7 citations · 9 across the 10 of their papers we have counts for
10 papers
Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
Min Dai, William D. Compton, Junheng Li +2
Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even…
RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots
Min Dai, Aaron D. Ames
We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoM…
Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control
Min Dai, Aaron D. Ames
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system mod…
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination
Jaemin Lee, Min Dai, Jeeseop Kim +1
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is…
Multi-Domain Walking with Reduced-Order Models of Locomotion
Min Dai, Jaemin Lee, Aaron D. Ames
Drawing inspiration from human multi-domain walking, this work presents a novel reduced-order model based framework for realizing multi-domain robotic walking. At the core of our a…
Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics
Min Dai, Xiaobin Xiong, Jaemin Lee +1
This paper presents an online framework for synthesizing agile locomotion for bipedal robots that adapts to unknown environments, modeling errors, and external disturbances. To thi…
Primitive Graph Learning for Unified Vector Mapping
Lei Wang, Min Dai, Jianan He +2
Large-scale vector mapping is important for transportation, city planning, and survey and census. We propose GraphMapper, a unified framework for end-to-end vector map extraction f…
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety
Noel Csomay-Shanklin, Ryan K. Cosner, Min Dai +2
This paper combines episodic learning and control barrier functions in the setting of bipedal locomotion. The safety guarantees that control barrier functions provide are only vali…
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
Min Dai, Xiaobin Xiong, Aaron Ames
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates t…
Learning Controller Gains on Bipedal Walking Robots via User Preferences
Noel Csomay-Shanklin, Maegan Tucker, Min Dai +2
Experimental demonstration of complex robotic behaviors relies heavily on finding the correct controller gains. This painstaking process is often completed by a domain expert, requ…