2 citations · 3 across the 9 of their papers we have counts for
11 papers
MAGMA: Multiplier-Augmented Geometric Motion Algorithm
César E. Ramos Chuquiure, Vansh Thakur, Challen Enninful Adu +1
Solving optimal control problems for high-dimensional mechanical systems subject to constraints remains challenging due to nonlinear dynamics and non-convex feasible sets. This pap…
LEAP: Gradient Flow Augmented Lagrangian Trajectory Optimization for Contact Constrained Robots
César E. Ramos Chuquiure, Ryan Tsai, Yutong Zhou +8
Generating dynamically feasible motions for legged and manipulating robots requires solving a large, nonlinear, non-convex optimal control problem (OCP) in which contact wrenches m…
Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints
Challen Enninful Adu, César E. Ramos Chuquiure, Yutong Zhou +5
The generation of optimal trajectories for high-dimensional robotic systems under constraints remains computationally challenging due to the need to simultaneously satisfy dynamic…
Bring the Heat: Rapid Trajectory Optimization with Pseudospectral Techniques and the Affine Geometric Heat Flow Equation
Challen Enninful Adu, César E. Ramos Chuquiure, Bohao Zhang +1
Generating optimal trajectories for high-dimensional robotic systems in a time-efficient manner while adhering to constraints is a challenging task. This paper introduces PHLAME, w…
Let's Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat
Jonathan Michaux, Seth Isaacson, Challen Enninful Adu +6
Neural Radiance Fields and Gaussian Splatting have recently transformed computer vision by enabling photo-realistic representations of complex scenes. However, they have seen limit…
Reachability-based Trajectory Design via Exact Formulation of Implicit Neural Signed Distance Functions
Jonathan Michaux, Qingyi Chen, Challen Enninful Adu +2
Generating receding-horizon motion trajectories for autonomous vehicles in real-time while also providing safety guarantees is challenging. This is because a future trajectory need…
SKOOTR: A SKating, Omni-Oriented, Tripedal Robot
Adam Joshua Hung, Challen Enninful Adu, Talia Y. Moore
In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, whi…
Not All Actions Are Created Equal: Bayesian Optimal Experimental Design for Safe and Optimal Nonlinear System Identification
Parker Ewen, Gitesh Gunjal, Joey Wilson +3
Uncertainty in state or model parameters is common in robotics and typically handled by acquiring system measurements that yield information about the uncertain quantities of inter…
RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion Planning
Jinsun Liu, Challen Enninful Adu, Lucas Lymburner +3
Deterministic methods for motion planning guarantee safety amidst uncertainty in obstacle locations by trying to restrict the robot from operating in any possible location that an…
Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion
Karthik Urs, Challen Enninful Adu, Elliott J. Rouse +1
Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit fr…
Alternative Metrics to Select Motors for Quasi-Direct Drive Actuators
Karthik Urs, Challen Enninful Adu, Elliott J. Rouse +1
Robotic systems for legged locomotion -- including legged robots, exoskeletons, and prosthetics -- require actuators with low inertia and high output torque. Traditionally, motors…