Author

Hyunyong Lee

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Open access Aug 2026

Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots

This letter presents a real-time control-constrained Differential Dynamic Programming (DDP) framework for underactuated legged robots. To address the limitation of classical DDP in handling control constraints, we propose an Accelerated Projected Gradient (APG)-based control-constrained DDP (ABC-DDP), which efficiently...

S. Nam, Hyunyong Lee, Hansol Kang et al. · IEEE Robotics and Automation... · 0 citations

#reinforcement learning Open access Sep 2026

Enhancing Sim-to-Real Transfer for a High-Gear-Ratio Quadruped Robot via Extended Actuator Dynamics Identification

Reinforcement learning (RL) has become a powerful tool for quadrupedal locomotion, and a sim-to-real approach is widely adopted to avoid hardware damage during training. However, the “sim-to-real gap” remains a critical challenge, particularly for robots driven by high-gear-ratio actuators, in which nonlinear friction...

Hansol Kang, Hyunyong Lee, Jiman Park et al. · Machines · 0 citations