3 citations · 7 across the 11 of their papers we have counts for
12 papers
Online Search-based Collision-inclusive Motion Planning and Control for Impact-resilient Mobile Robots
Zhouyu Lu, Zhichao Liu, Merrick Campbell +1
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framewo…
Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine
Keran Ye, Konstantinos Karydis
This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds…
Deformation Recovery Control and Post-Impact Trajectory Replanning for Collision-Resilient Mobile Robots
Zhouyu Lu, Zhichao Liu, Konstantinos Karydis
The paper focuses on collision-inclusive motion planning for impact-resilient mobile robots. We propose a new deformation recovery and replanning strategy to handle collisions that…
Position Control and Variable-Height Trajectory Tracking of a Soft Pneumatic Legged Robot
Zhichao Liu, Konstantinos Karydis
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precis…
A Portable Agricultural Robot for Continuous Apparent Soil ElectricalConductivity Measurements to Improve Irrigation Practices
Merrick Campbell, Keran Ye, Elia Scudiero +1
Near-ground sensing data, such as geospatial measurements of soil apparent electrical conductivity (ECa), are used in precision agriculture to improve farming practices and increas…
Enhancement for Robustness of Koopman Operator-based Data-driven Mobile Robotic Systems
Lu Shi, Konstantinos Karydis
Koopman operator theory has served as the basis to extract dynamics for nonlinear system modeling and control across settings, including non-holonomic mobile robot control. There i…