186 citations · 218 across the 6 of their papers we have counts for
6 papers
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Charles Khazoom, Daniel Gonzalez-Diaz, Yanran Ding +1
This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-col…
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking
Yanran Ding, Charles Khazoom, Matthew Chignoli +1
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, th…
HOPPY: An Open-source Kit for Education with Dynamic Legged Robots
Joao Ramos, Yanran Ding, Young-woo Sim +2
This paper introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The ki…
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
Yanran Ding, Abhishek Pandala, Chuanzheng Li +2
This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three dimensional (3D)…
Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program
Yanran Ding, Chuanzheng Li, Hae-Won Park
This paper proposes a kinodynamic motion planning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about cent…
HOPPY: An open-source and low-cost kit for dynamic robotics education
Joao Ramos, Yanran Ding, Young-woo Sim +2
This letter introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The k…