18 citations · 35 across the 8 of their papers we have counts for
4 papers · 1 filter
Safe Motion Planning for Quadruped Robots Using Density Functions
Sriram S. K. S Narayanan, Andrew Zheng, Umesh Vaidya
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a mod…
Safe Navigation using Density Functions
Andrew Zheng, Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents a novel approach for safe control synthesis using the dual formulation of the navigation problem. The main contribution of this paper is in the analytical const…
Off-Road Navigation of Legged Robots Using Linear Transfer Operators
Joseph Moyalan, Andrew Zheng, Sriram S. K. S Narayanan +1
This paper presents the implementation of off-road navigation on legged robots using convex optimization through linear transfer operators. Given a traversability measure that capt…
Optimal Control for Quadruped Locomotion using LTV MPC
Andrew Zheng, Sriram S. K. S Narayanan
This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying m…