27 citations · 74 across the 24 of their papers we have counts for
Showing 2020Show all
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cs.RO2020★ 3 cited
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
Chenyu Yang, Bike Zhang, Jun Zeng +2
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation task…
eess.SY2020★ 23 cited
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function
Jun Zeng, Bike Zhang, Koushil Sreenath
The optimal performance of robotic systems is usually achieved near the limit of state and input bounds. Model predictive control (MPC) is a prevalent strategy to handle these oper…