17 citations · 69 across the 26 of their papers we have counts for
23 papers · 1 filter
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations
Zhaoyuan Gu, Rongming Guo, William Yates +2
This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guar…
Integrating Reconfigurable Foot Design, Multi-modal Contact Sensing, and Terrain Classification for Bipedal Locomotion
Ted Tyler, Vaibhav Malhotra, Adam Montague +3
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, b…
Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments
Hongyi Chen, Shiyu Feng, Ye Zhao +2
This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, a…
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills
Yunhai Han, Mandy Xie, Ye Zhao +1
Despite impressive dexterous manipulation capabilities enabled by learning-based approaches, we are yet to witness widespread adoption beyond well-resourced laboratories. This is l…
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation
Lasitha Wijayarathne, Ziyi Zhou, Ye Zhao +1
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of acc…
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution
Michael Enqi Cao, Jonas Warnke, Yunhai Han +3
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that ap…
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
Ziyi Zhou, Bruce Wingo, Nathan Boyd +2
In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternat…
Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer
Yunhai Han, Kelin Yu, Rahul Batra +6
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dy…
Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming
Ziyi Zhou, Dong Jae Lee, Yuki Yoshinaga +3
This paper takes the first step towards a reactive, hierarchical multi-robot task allocation and planning framework given a global Linear Temporal Logic specification. The capabili…
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery
Zhaoyuan Gu, Nathan Boyd, Ye Zhao
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to…
Adversarially Regularized Policy Learning Guided by Trajectory Optimization
Zhigen Zhao, Simiao Zuo, Tuo Zhao +1
Recent advancement in combining trajectory optimization with function approximation (especially neural networks) shows promise in learning complex control policies for diverse task…
An Adaptive Control Algorithm for Quadruped Locomotion with Proprioceptive Linear Legs
Bingchen Jin, Yueheng Zhou, Ye Zhao +3
Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit hi…
Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation
Hongwu Zhu, Dong Wang, Nathan Boyd +6
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to trav…
Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraints
Luke Drnach, John Z. Zhang, Ye Zhao
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, plann…
SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments
Zhigen Zhao, Ziyi Zhou, Michael Park +1
This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization. This TAMP method exploits the discrete structure of sequent…
Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementarity
Luke Drnach, Ye Zhao
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. Howeve…
Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain
Jonas Warnke, Abdulaziz Shamsah, Yingke Li +1
This study proposes an integrated task and motion planning method for dynamic locomotion in partially observable environments with multi-level safety guarantees. This layered plann…
Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics
Lasitha Wijayarathne, Qie Sima, Ziyi Zhou +2
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate int…
Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics
Ziyi Zhou, Ye Zhao
Trajectory optimization is becoming increasingly powerful in addressing motion planning problems of underactuated robotic systems. Numerous prior studies solve such a class of larg…
Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments
Ye Zhao, Yinan Li, Luis Sentis +2
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic…
A Planning and Control Framework for Humanoid Systems: Robust, Optimal, and Real-time Performance
Ye Zhao
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish…
A Framework for Planning and Controlling Non-Periodic Bipedal Locomotion
Ye Zhao, Benito R. Fernandez, Luis Sentis
This study presents a theoretical framework for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic apex states. Based on the prismat…
Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking
Donghyun Kim, Ye Zhao, Gray Thomas +1
In this paper we present advancements in control and trajectory generation for agile behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control (WBOSC), d…