Author

Jemin Hwangbo

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Open access Sep 2026

A quadruped robot designed to complete a marathon on a single battery charge

Recent advances in legged robot control have expanded the potential for quadruped robots in real-world applications, such as rescue operations in disaster zones and mountainous regions1. However, practical deployment is hindered by the limited travel range per battery charge: a challenge compounded by the robots’ inher...

Choongin Lee, D. Youm, Jeongsoo Park et al. · Nature · 0 citations

Preprint Aug 2026

TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions

An end-to-end learned proprioceptive odometry estimator for legged robots under unreliable contact conditions that directly predicts relative displacement, relative rotation, and body-frame velocity from a recent history of onboard inertial and joint measurements.

Taehyeon Kong, W. Kim, Jemin Hwangbo · 0 citations

Jul 2026

PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings

This paper introduces a new Kinematic Normalizing Flow (KNF) model, trained on a large-scale kinematic dataset, that generates diverse yet feasible partial reference motions that effectively addresses whole-body control challenges by decomposing the complex loco-manipulation problem into partial reference motion genera...

Zhengmao He, Moonkyu Jung, Hyeongjun Kim et al. · arXiv.org · 0 citations