29 citations · 58 across the 15 of their papers we have counts for
15 papers
Evaluating Data-driven Performances of Mixed Integer Bilinear Formulations for Book Placement Planning
Xuan Lin, Gabriel Ikaika Fernandez, Dennis Hong
Mixed integer bilinear programs (MIBLPs) offer tools to resolve robotics motion planning problems with orthogonal rotation matrices or static moment balance, but require long solvi…
SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains
Yusuke Tanaka, Yuki Shirai, Alexander Schperberg +2
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. While existing…
Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation
Xuan Lin, Gabriel Fernandez, Yeting Liu +3
In this paper we present a motion planner for LIMMS, a modular multi-agent, multi-modal package delivery platform. A single LIMMS unit is a robot that can operate as an arm or leg…
SCALER: A Tough Versatile Quadruped Free-Climber Robot
Yusuke Tanaka, Yuki Shirai, Xuan Lin +5
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-de…
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
Yuki Shirai, Xuan Lin, Alexander Schperberg +4
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present…
Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion
Xuan Lin, Feng Xu, Alexander Schperberg +1
Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumpt…
Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter
Alexander Schperberg, Yuki Shirai, Xuan Lin +2
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance…
ReDUCE: Reformulation of Mixed Integer Programs using Data from Unsupervised Clusters for Learning Efficient Strategies
Xuan Lin, Gabriel I. Fernandez, Dennis W. Hong
Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines learning methods on solver heuristics has show…
An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights
Yusuke Tanaka, Yuki Shirai, Zachary Lacey +3
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can a…
Designing Multi-Stage Coupled Convex Programming with Data-Driven McCormick Envelope Relaxations for Motion Planning
Xuan Lin, Min Sung Ahn, Dennis Hong
For multi-limbed robots, motion planning with posture and force constraints tends to be a difficult optimization problem due to nonlinearities, which also present extended solve ti…
Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints
Jingwen Zhang, Xuan Lin, Dennis W Hong
In order to achieve autonomous vertical wall climbing, the transition phase from the ground to the wall requires extra consideration inevitably. This paper focuses on the contact s…
On anisotropic non-Lipschitz restoration model: lower bound theory and convergent algorithm
Chunlin Wu, Xuan Lin, Yufei Zhao
For nonconvex and nonsmooth restoration models, the lower bound theory reveals their good edge recovery ability, and related analysis can help to design convergent algorithms. Exis…
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments
Yuki Shirai, Xuan Lin, Ankur Mehta +1
Although Trajectory Optimization (TO) is one of the most powerful motion planning tools, it suffers from expensive computational complexity as a time horizon increases in cluttered…
Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming
Yuki Shirai, Xuan Lin, Yusuke Tanaka +2
We present a motion planning algorithm with probabilistic guarantees for limbed robots with stochastic gripping forces. Planners based on deterministic models with a worst-case unc…
Optimization Based Motion Planning for Multi-Limbed Vertical Climbing Robots
Xuan Lin, Jingwen Zhang, Junjie Shen +2
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on mo…