20 citations · 30 across the 5 of their papers we have counts for
5 papers
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments
Abdulaziz Shamsah, Zhaoyuan Gu, Jonas Warnke +2
This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacle…
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery
Zhaoyuan Gu, Nathan Boyd, Ye Zhao
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to…
Adversary A3C for Robust Reinforcement Learning
Zhaoyuan Gu, Zhenzhong Jia, Howie Choset
Asynchronous Advantage Actor Critic (A3C) is an effective Reinforcement Learning (RL) algorithm for a wide range of tasks, such as Atari games and robot control. The agent learns p…
State Estimation for Legged Robots Using Contact-Centric Leg Odometry
Shuo Yang, Hans Kumar, Zhaoyuan Gu +3
Our goal is to send legged robots into challenging, unstructured terrains that wheeled systems cannot traverse. Moreover, precise estimation of the robot's position and orientation…
Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller
Shuo Yang, Zhaoyuan Gu, Ruohai Ge +3
This paper reports the design and implementation of a three-link brachiation robot. The robot is able to travel along horizontal monkey bars using continuous arm swings. We build a…