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Yi Gyeom Kim

2 accepted papers

2026

Reinforcement Learning for Stair Locomotion of a Wheeled Bipedal Robot with Contact-Guided Behavior Cloning

Yi Gyeom Kim, Sejik Oh, Hyojin Jo, Dogyun Park, Nam Kyu Kwon
ICRA 2026poster

This paper proposes a contact event-guided PPO with Behavior Cloning (PPO-BC) framework for stair locomotion of a 2-wheel 2-leg (2W2L) wheeled bipedal robot. Stair traversal is difficult because successful climbing depends on brief and sparse wheel-stair contact events that require precise leg lifti…

Cited by 0Scholar ↗
2026

Suppressing Initial Force Overshoot Using Admittance Filter and ASMC under Contact Location Uncertainty

Sejik Oh, Yi Gyeom Kim, Hyojin Jo, Dogyun Park, Nam Kyu Kwon
ICRA 2026poster

This paper proposes a control method to mitigate initial force overshoot caused by contact surface position estimation errors. The proposed method adds a compensation term based on Adaptive Sliding Mode Control (ASMC) to a conventional admittance control structure. Also, to maintain position trackin…

Cited by 0Scholar ↗