4 citations · 4 across the 11 of their papers we have counts for
12 papers · 1 filter
Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints
Challen Enninful Adu, César E. Ramos Chuquiure, Yutong Zhou +5
The generation of optimal trajectories for high-dimensional robotic systems under constraints remains computationally challenging due to the need to simultaneously satisfy dynamic…
Provably-Safe, Online System Identification
Bohao Zhang, Zichang Zhou, Ram Vasudevan
Precise manipulation tasks require accurate knowledge of payload inertial parameters. Unfortunately, identifying these parameters for unknown payloads while ensuring that the robot…
DEFT: Differentiable Branched Discrete Elastic Rods for Modeling Furcated DLOs in Real-Time
Yizhou Chen, Xiaoyue Wu, Felicia Sang +6
Autonomous wire-harness assembly requires precise, reliable manipulation of branched cables, whose deformation is difficult to predict. Models for single Deformable Linear Objects…
Bring the Heat: Rapid Trajectory Optimization with Pseudospectral Techniques and the Affine Geometric Heat Flow Equation
Challen Enninful Adu, César E. Ramos Chuquiure, Bohao Zhang +1
Generating optimal trajectories for high-dimensional robotic systems in a time-efficient manner while adhering to constraints is a challenging task. This paper introduces PHLAME, w…
Conformalized Reachable Sets for Obstacle Avoidance With Spheres
Yongseok Kwon, Jonathan Michaux, Seth Isaacson +4
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans…
Rapid and Robust Trajectory Optimization for Humanoids
Bohao Zhang, Ram Vasudevan
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting…
System Identification For Constrained Robots
Bohao Zhang, Daniel Haugk, Ram Vasudevan
Identifying the parameters of robotic systems, such as motor inertia or joint friction, is critical to satisfactory controller synthesis, model analysis, and observer design. Conve…
Jointed Tails Enhance Control of Three-dimensional Body Rotation
Xun Fu, Bohao Zhang, Ceri J. Weber +3
Tails used as inertial appendages induce body rotations of animals and robots, a phenomenon that is governed largely by the ratio of the body and tail moments of inertia. However,…
Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres
Jonathan Michaux, Adam Li, Qingyi Chen +3
Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to en…
Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects
Zachary Brei, Jonathan Michaux, Bohao Zhang +2
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee s…
Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty
Jonathan Michaux, Patrick Holmes, Bohao Zhang +7
Ensuring safe, real-time motion planning in arbitrary environments requires a robotic manipulator to avoid collisions, obey joint limits, and account for uncertainties in the mass…
Reachable Sets for Safe, Real-Time Manipulator Trajectory Design
Patrick Holmes, Shreyas Kousik, Bohao Zhang +4
For robotic arms to operate in arbitrary environments, especially near people, it is critical to certify the safety of their motion planning algorithms. However, there is often a t…