17 citations · 69 across the 26 of their papers we have counts for
4 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…