143 citations · 378 across the 39 of their papers we have counts for
5 papers · 2 filters
Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots
Hua Chen, Bingheng Wang, Zejun Hong +3
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierar…
Model Hierarchy Predictive Control of Robotic Systems
He Li, Robert J. Frei, Patrick M. Wensing
This letter presents a new predictive control architecture for high-dimensional robotic systems. As opposed to a conventional Model Predictive Control (MPC) approach to locomotion…
Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems
Sebastian Echeandia, Patrick M. Wensing
This article presents methods to efficiently compute the Coriolis matrix and underlying Christoffel symbols (of the first kind) for tree-structure rigid-body systems. The algorithm…
Approximate Simulation for Template-Based Whole-Body Control
Vince Kurtz, Patrick M. Wensing, Hai Lin
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics…
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots
He Li, Patrick M. Wensing
This paper presents a Differential Dynamic Programming (DDP) framework for trajectory optimization (TO) of hybrid systems with state-based switching. The proposed Hybrid Systems DD…