4 citations · 8 across the 9 of their papers we have counts for
10 papers · 1 filter
AISPO: Enhancing Depth Reliability for Robotic Manipulation of Non-Lambertian Objects via Affine-Invariant Shape Prior
Zhiming Chen, Linfang Zheng, Kun Zhang +4
Reliable depth perception is critical for robotic manipulation, especially for non-Lambertian objects such as transparent or highly specular surfaces, where raw depth measurements…
Generative Artificial Intelligence in Robotic Manipulation: A Survey
Kun Zhang, Peng Yun, Jun Cen +11
This survey provides a comprehensive review on recent advancements of generative learning models in robotic manipulation, addressing key challenges in the field. Robotic manipulati…
Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator
Kaiwen Jiang, Zhen Fu, Junde Guo +2
In this paper, we study the whole-body loco-manipulation problem using reinforcement learning (RL). Specifically, we focus on the problem of how to coordinate the floating base and…
Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots
Qiayuan Liao, Zhefeng Cao, Hua Chen +1
This paper studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializatio…
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance
Hua Chen, Zejun Hong, Shunpeng Yang +2
This paper studies capturability and push recovery for quadrupedal locomotion. Despite the rich literature on capturability analysis and push recovery control for legged robots, ex…
Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots
Shunpeng Yang, Hua Chen, Zhen Fu +1
This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adj…