3 citations · 4 across the 4 of their papers we have counts for
6 papers
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion
Randall T Fawcett, Leila Amanzadeh, Jeeseop Kim +2
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To thi…
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
Jeeseop Kim, Randall T Fawcett, Vinay R Kamidi +2
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A…
Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints
Kaveh Akbari Hamed, Jeeseop Kim, Abhishek Pandala
This paper aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and…
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach
Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames
The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking…
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach
Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma +2
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide…
Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach
Kaveh Akbari Hamed, Vinay R. Kamidi, Abhishek Pandala +2
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints.…