DOLSOE

I’m developing DOLSOE (aka 돌쇠), a wheeled biped robot intended for park walks, stairs, and quick turns, with a small arm for interactions such as handing over a flower.

My current work focuses on the lower body in MuJoCo: balancing, moving toward a goal, and crossing uneven terrain. I’m exploring model predictive control (MPC), imitation learning, and reinforcement learning to develop the controller. Reliable terrain traversal and physical hardware validation remain open work.