19 citations · 51 across the 23 of their papers we have counts for
4 papers · 1 filter
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…
Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion
Zhi Xu, Hongbo Zhu, Hua Chen +1
This paper studies the problem of constructing polytopic representations of planar regions from depth camera readings. This problem is of great importance for terrain mapping in co…
DynamicFilter: an Online Dynamic Objects Removal Framework for Highly Dynamic Environments
Tingxiang Fan, Bowen Shen, Hua Chen +2
Emergence of massive dynamic objects will diversify spatial structures when robots navigate in urban environments. Therefore, the online removal of dynamic objects is critical. In…
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…