29 citations · 51 across the 12 of their papers we have counts for
12 papers
Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots
Jingwen Zhang, Junjie Shen, Yeting Liu +1
Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal ro…
Feasibility Study of LIMMS, A Multi-Agent Modular Robotic Delivery System with Various Locomotion and Manipulation Modes
Taoyuanmin Zhu, Gabriel I. Fernandez, Colin Togashi +2
The logistics of transporting a package from a storage facility to the consumer's front door usually employs highly specialized robots often times splitting sub-tasks up to differe…
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…
SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots
Alexander Schperberg, Stephanie Tsuei, Stefano Soatto +1
We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal while avoiding obstacles in…
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…
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-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance
Alexander Schperberg, Kenny Chen, Stephanie Tsuei +5
In this paper, we propose an online path planning architecture that extends the model predictive control (MPC) formulation to consider future location uncertainties for safer navig…
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…
Deep Reinforcement Learning with Linear Quadratic Regulator Regions
Gabriel I. Fernandez, Colin Togashi, Dennis W. Hong +1
Practitioners often rely on compute-intensive domain randomization to ensure reinforcement learning policies trained in simulation can robustly transfer to the real world. Due to u…
OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel
Junjie Shen, Dennis Hong
A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a small footprint, to move omnidirectionally, as well as to be highly maneuverable…
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…