5 accepted papers
Controlling a flexible wheeled robot for complex tasks such as stair climbing is highly challenging. The nonlinearity inherent in soft materials hinders accurate modeling, creating a trade-off in Reinforcement Learning (RL) between simulation fidelity and learning speed. We propose an RL-friendly, m
Controlling a flexible wheeled robot for complex tasks such as stair climbing is highly challenging. The nonlinearity inherent in soft materials hinders accurate modeling, creating a trade-off in Reinforcement Learning (RL) between simulation fidelity and learning speed. We propose an RL-friendly, m…
Agile humanoid locomotion requires high joint torque and velocity, but conventional serial actuation, whether using high-reduction or Quasi-Direct Drive (QDD) actuators, faces limitations in size, weight, and efficiency. This paper proposes the Advanced Differential and Agile Parallel Transmission (
Although many walking control frameworks have been developed to enable biped robots to walk stably on uneven terrain, the foot sole of the robot is also important. Inspired by that study, we have developed a Variable Stiffness Sole (VSS), which is able to adapt to the shape of the obstacles on the g…
Graffiti work using a humanoid with artistic technique can convey the value of artists' work to people. Previous work that focused on drawing an image on a canvas accurately has not contained artistic processes like performance, drawing skills and other artists' intents at the time of creation. To c…