20 citations · 47 across the 6 of their papers we have counts for
6 papers
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
Ke Wang, Guiyang Xin, Songyan Xin +3
To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by propo…
OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulation
Ziyuan Liu, Wei Liu, Yuzhe Qin +8
In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark. The benchmark focuses on the object rearrangement problem, spe…
Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion
Guiyang Xin, Songyan Xin, Oguzhan Cebe +5
In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected…
Online Dynamic Motion Planning and Control for Wheeled Biped Robots
Songyan Xin, Sethu Vijayakumar
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This…
Modeling and Control of a Hybrid Wheeled Jumping Robot
Traiko Dinev, Songyan Xin, Wolfgang Merkt +2
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright…
Nonlinear Model Predictive Control for Robust Bipedal Locomotion: Exploring Angular Momentum and CoM Height Changes
Jiatao Ding, Chengxu Zhou, Songyan Xin +2
Human beings can utilize multiple balance strategies, e.g. step location adjustment and angular momentum adaptation, to maintain balance when walking under dynamic disturbances. In…