5 accepted papers
A transformer model is used in general tasks such as pre-trained language models and specific tasks including machine translation. Such a model mainly relies on positional encodings (PEs) to handle the sequential order of input vectors. There are variations of PEs, such as absolute and relative, and…
We propose a novel problem formulation for sparsity-aware adaptive filtering based on the nonconvex minimax concave (MC) penalty, aiming to obtain a sparse solution with small estimation bias. We present two algorithms: the first algorithm uses a single firm-shrinkage operation, while the second one…
Real-time planning of footsteps has been a big challenge for bipedal research. A large number of methods have been proposed over the last several years. In addition, divergent component of motion (DCM) of linear inverted pendulum (LIP) has been applied to solve this problem thus attracting a great d…
In this paper, a new experimental legged robot for inspection and disaster response in social infrastructures designed for humans, such as factories and power plants is presented. The robot has distinctive features to climb up and down ladders with a narrow cage, to pass through narrow environments,…
Applying humanoid robots in disaster sites requires strong locomotion abilities due to the cluttered and unstructured environment. Besides bipedal walking, it is beneficial to provide functionality to locomote on four limbs, and to control the transitions between bipedal and quadrupedal locomotion.…