17 citations · 51 across the 16 of their papers we have counts for
5 papers · 1 filter
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…