10 citations · 19 across the 5 of their papers we have counts for
5 papers
Generalized Nash Equilibrium Models for Asymmetric, Non-cooperative Games on Line Graphs: Application to Water Resource Systems
Nathan Boyd, Steven Gabriel, George Rest +1
This paper investigates the game theory of resource-allocation situations where the "first come, first serve" heuristic creates inequitable, asymmetric benefits to the players. Spe…
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
Ziyi Zhou, Bruce Wingo, Nathan Boyd +2
In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternat…
Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer
Yunhai Han, Kelin Yu, Rahul Batra +6
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dy…
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery
Zhaoyuan Gu, Nathan Boyd, Ye Zhao
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to…
Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation
Hongwu Zhu, Dong Wang, Nathan Boyd +6
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to trav…