3 papers
cs.RO2024
Wallbounce : Push wall to navigate with Contact-Implicit MPC
Xiaohan Liu, Cunxi Dai, John Z. Zhang +3
In this work, we introduce a framework that enables highly maneuverable locomotion using non-periodic contacts. This task is challenging for traditional optimization and planning m…
cs.RO2024
Ubiquitous Field Transportation Robots with Robust Wheel-Leg Transformable Modules
Haoran Wang, Cunxi Dai, Siyuan Wang +6
This paper introduces two field transportation robots. Both robots are equipped with transformable wheel-leg modules, which can smoothly switch between operation modes and can work…
cs.RO2024
Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation
Cunxi Dai, Xiaohan Liu, Koushil Sreenath +2
This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown d…