15 citations · 18 across the 5 of their papers we have counts for
8 papers
Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion
D. Belter, J. Bednarek, H. -C. Lin +2
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local…
Learning Agile Paths from Optimal Control
Alex Beaudin, Hsiu-Chin Lin
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality o…
Generating Stable and Collision-Free Policies through Lyapunov Function Learning
Alexandre Coulombe, Hsiu-Chin Lin
The need for rapid and reliable robot deployment is on the rise. Imitation Learning (IL) has become popular for producing motion planning policies from a set of demonstrations. How…
Online Dynamic Trajectory Optimization and Control for a Quadruped Robot
Oguzhan Cebe, Carlo Tiseo, Guiyang Xin +3
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capabl…
Contact Surface Estimation via Haptic Perception
Hsiu-Chin Lin, Michael Mistry
Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terra…
Bounded haptic teleoperation of a quadruped robot's foot posture for sensing and manipulation
Guiyang Xin, Joshua Smith, David Rytz +3
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typica…