3 papers
cs.RO2020
Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion
Guiyang Xin, Songyan Xin, Oguzhan Cebe +5
In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected…
cs.RO2020
Online Dynamic Trajectory Optimization and Control for a Quadruped Robot
Oguzhan Cebe, Carlo Tiseo, Guiyang Xin +3
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capabl…
cs.RO2020
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots
Guiyang Xin, Carlo Tiseo, Wouter Wolfslag +5
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control…