7 citations · 13 across the 9 of their papers we have counts for
9 papers
EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning
Wei Zhu, Abirath Raju, Abdulaziz Shamsah +3
This study presents an emotion-aware navigation framework -- EmoBipedNav -- using deep reinforcement learning (DRL) for bipedal robots walking in socially interactive environments.…
Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
Zhaoyuan Gu, Junheng Li, Wenlan Shen +15
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine lear…
Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks
Abdulaziz Shamsah, Jesse Jiang, Ziwon Yoon +2
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we…
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control
Abdulaziz Shamsah, Krishanu Agarwal, Nigam Katta +3
This study addresses the challenge of social bipedal navigation in a dynamic, human-crowded environment, a research area largely underexplored in legged robot navigation. We presen…
Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability
Kasidit Muenprasitivej, Jesse Jiang, Abdulaziz Shamsah +2
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to r…
Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation
Abdulaziz Shamsah, Krishanu Agarwal, Shreyas Kousik +1
This study addresses the challenge of bipedal navigation in a dynamic human-crowded environment, a research area that remains largely underexplored in the field of legged navigatio…
Socially Acceptable Bipedal Navigation: A Signal-Temporal-Logic- Driven Approach for Safe Locomotion
Abdulaziz Shamsah, Ye Zhao
Social navigation for bipedal robots remains relatively unexplored due to the highly complex, nonlinear dynamics of bipedal locomotion. This study presents a preliminary exploratio…
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments
Abdulaziz Shamsah, Zhaoyuan Gu, Jonas Warnke +2
This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacle…
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…