Junnosuke Kamohara

Robust bipedal locomotion on flowable slopes via foot-driven terrain manipulation

Deniz Kerimoglu, Junnosuke Kamohara, Jiyeon Maeng, Ziwon Yoon, Seth Hutchinson, Ye Zhao, et al.

Bipedal robots are challenging to control because they operate close to instability, where small variations in foot-terrain contact can rapidly destabilize locomotion. On rigid terrain, bipedal robots mitigate this fragility by using well-established contact mechanics and control…Read more