6 citations · 9 across the 5 of their papers we have counts for
8 papers
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker
Xingpeng Xia, Jason J. Choi, Ayush Agrawal +3
Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine…
Towards a Mathematics Formalisation Assistant using Large Language Models
Ayush Agrawal, Siddhartha Gadgil, Navin Goyal +2
Mathematics formalisation is the task of writing mathematics (i.e., definitions, theorem statements, proofs) in natural language, as found in books and papers, into a formal langua…
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Jason J. Choi, Ayush Agrawal, Koushil Sreenath +2
Contact-rich robotic systems, such as legged robots and manipulators, are often represented as hybrid systems. However, the stability analysis and region-of-attraction computation…
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
Scott Gilroy, Derek Lau, Lizhi Yang +8
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exp…
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
Chenyu Yang, Bike Zhang, Jun Zeng +2
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation task…
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning
Fernando Castañeda, Mathias Wulfman, Ayush Agrawal +4
The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common…