26 citations · 38 across the 11 of their papers we have counts for
5 papers · 1 filter
Real-to-Sim: Predicting Residual Errors of Robotic Systems with Sparse Data using a Learning-based Unscented Kalman Filter
Alexander Schperberg, Yusuke Tanaka, Feng Xu +2
Achieving highly accurate dynamic or simulator models that are close to the real robot can facilitate model-based controls (e.g., model predictive control or linear-quadradic regul…
SCALER: A Tough Versatile Quadruped Free-Climber Robot
Yusuke Tanaka, Yuki Shirai, Xuan Lin +5
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-de…
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
Yuki Shirai, Xuan Lin, Alexander Schperberg +4
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present…
Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion
Xuan Lin, Feng Xu, Alexander Schperberg +1
Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumpt…
Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter
Alexander Schperberg, Yuki Shirai, Xuan Lin +2
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance…