Connor W. Herron — accepted AI-conference papers

2025

Angular Divergent Component of Motion: A Step Towards Planning Spatial DCM Objectives for Legged Robots

Connor W. Herron, Robert Schuller, Benjamin C. Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger

ICRA 2025

In this work, the Divergent Component of Motion (DCM) method is expanded to include angular coordinates for the first time. This work introduces the idea of spatial DCM, which adds an angular objective to the existing linear DCM theory. To incorporate the angular component into the framework, a disc

Cited by 1 Source ↗Scholar ↗

2023

Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator

Ruturaj Sambhus, Aydin Gokce, Stephen Welch, Connor W. Herron, Alexander Leonessa

IROS 2023poster

Many state-of-the-art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to instability due to nonlinearities in the SEA where cascaded model-ba…

Cited by 2 Source ↗Scholar ↗