7 citations · 18 across the 21 of their papers we have counts for
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cs.RO2024★ 1 cited
Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer
Qianzhong Chen, Junheng Li, Sheng Cheng +2
Bipedal locomotion control is essential for humanoid robots to navigate complex, human-centric environments. While optimization-based control designs are popular for integrating so…
cs.RO2024
Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control
Junheng Li, Zhanhao Le, Junchao Ma +1
Current humanoid push-recovery strategies often use whole-body motion, yet they tend to overlook posture regulation. For instance, in manipulation tasks, the upper body may need to…
cs.RO2024★ 1 cited
Continuous Dynamic Bipedal Jumping via Real-time Variable-model Optimization
Junheng Li, Omar Kolt, Quan Nguyen
Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot control. Real-time planning with full body dynamics over the entire jumping trajectory prese…