143 citations · 378 across the 39 of their papers we have counts for
6 papers · 1 filter
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…
Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances
Vince Kurtz, Patrick M. Wensing, Hai Lin
Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an a…