2 citations · 2 across the 6 of their papers we have counts for
6 papers · 1 filter
PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
Kunal S. Narkhede, Abhijeet M. Kulkarni, Guoquan Huang +1
Autonomous robot navigation requires rapid construction of obstacle-points-separated convex regions for trajectory planning. When obstacles are represented as point clouds from LiD…
Online Learning of Robust Legged Odometry with Minimal Exteroceptive Supervision
Abhijeet M. Kulkarni, Yuze Du, Guoquan Huang
Robust locomotion and navigation for legged robots relies heavily on dependable odometry. Traditional multi-sensor fusion for such state estimation requires meticulous sensor calib…
Proprioceptive-only State Estimation for Legged Robots with Set-Coverage Measurements of Learned Dynamics
Abhijeet M. Kulkarni, Ioannis Poulakakis, Guoquan Huang
Proprioceptive-only state estimation is attractive for legged robots since it is computationally cheaper and is unaffected by perceptually degraded conditions. The history of joint…
Efficient and Compliant Control Framework for Versatile Human-Humanoid Collaborative Transportation
Shubham S. Kumbhar, Abhijeet M. Kulkarni, Panagiotis Artemiadis
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotati…
Learning Neural Observer-Predictor Models for Limb-level Sampling-based Locomotion Planning
Abhijeet M. Kulkarni, Ioannis Poulakakis, Guoquan Huang
Accurate full-body motion prediction is essential for the safe, autonomous navigation of legged robots, enabling critical capabilities like limb-level collision checking in clutter…
A Sequential MPC Approach to Reactive Planning for Bipedal Robots
Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki +1
This paper presents a sequential Model Predictive Control (MPC) approach to reactive motion planning for bipedal robots in dynamic environments. The approach relies on a sequential…