26 citations · 81 across the 13 of their papers we have counts for
9 papers · 1 filter
Path Generation for Wheeled Robots Autonomous Navigation on Vegetated Terrain
Zhuozhu Jian, Zejia Liu, Haoyu Shao +3
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera et…
Hybrid Trajectory Optimization for Autonomous Terrain Traversal of Articulated Tracked Robots
Zhengzhe Xu, Yanbo Chen, Zhuozhu Jian +3
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hyb…
Foldsformer: Learning Sequential Multi-Step Cloth Manipulation With Space-Time Attention
Kai Mo, Chongkun Xia, Xueqian Wang +3
Sequential multi-step cloth manipulation is a challenging problem in robotic manipulation, requiring a robot to perceive the cloth state and plan a sequence of chained actions lead…
The Simplest Balance Controller for Dynamic Walking
Linqi Ye, Xueqian Wang, Houde Liu +1
Humans can balance very well during walking, even when perturbed. But it seems difficult to achieve robust walking for bipedal robots. Here we describe the simplest balance control…
Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot
Zhuozhu Jian, Zihong Yan, Xuanang Lei +4
This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacl…
PUTN: A Plane-fitting based Uneven Terrain Navigation Framework
Zhuozhu Jian, Zihong Lu, Xiao Zhou +4
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, espec…
Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach
Yanbo Chen, Zhengzhe Xu, Zhuozhu Jian +5
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance r…
Orientation to Pose: Continuum Robots Shape Sensing Based on Piecewise Polynomial Curvature Model
Hao Cheng, Hongji Shang, Bin Lan +3
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robo…
Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation
Hao Cheng, Houde Liu, Xueqian Wang +1
The continuum robot has attracted more attention for its flexibility. Continuum robot kinematics models are the basis for further perception, planning, and control. The design and…