12 citations · 14 across the 4 of their papers we have counts for
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cs.RO2023
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots
Yanhao Yang, Joseph Norby, Justin K. Yim +1
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failu…
cs.RO2022★ 12 cited
Adaptive Complexity Model Predictive Control
Joseph Norby, Ardalan Tajbakhsh, Yanhao Yang +1
This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and…