27 citations · 74 across the 24 of their papers we have counts for
6 papers · 1 filter
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam +2
This paper presents a safety-critical locomotion control framework for quadrupedal robots. Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To…
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions
Shuo Liu, Jun Zeng, Koushil Sreenath +1
Safety is one of the fundamental challenges in control theory. Recently, multi-step optimal control problems for discrete-time dynamical systems were formulated to enforce stabilit…
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots
Chenyu Yang, Guo Ning Sue, Zhongyu Li +6
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (…
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Zhongyu Li, Jun Zeng, Akshay Thirugnanam +1
Bridging model-based safety and model-free reinforcement learning (RL) for dynamic robots is appealing since model-based methods are able to provide formal safety guarantees, while…
Adapting Rapid Motor Adaptation for Bipedal Robots
Ashish Kumar, Zhongyu Li, Jun Zeng +3
Recent advances in legged locomotion have enabled quadrupeds to walk on challenging terrains. However, bipedal robots are inherently more unstable and hence it's harder to design w…
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control
Lizhi Yang, Zhongyu Li, Jun Zeng +1
In this paper, we propose a multi-domain control parameter learning framework that combines Bayesian Optimization (BO) and Hybrid Zero Dynamics (HZD) for locomotion control of bipe…