91 citations · 124 across the 36 of their papers we have counts for
14 papers · 1 filter
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP
Adrian B. Ghansah, Jeeseop Kim, Kejun Li +1
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics res…
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms
Jaemin Lee, Jeeseop Kim, Aaron D. Ames
This paper proposes a comprehensive framework designed for the autonomous inspection of complex environments, with a specific focus on multi-tiered settings such as distillation co…
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…
PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability
Albert H. Li, Preston Culbertson, Aaron D. Ames
Classical approaches to grasp planning are deterministic, requiring perfect knowledge of an object's pose and geometry. In response, data-driven approaches have emerged that plan g…
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics
Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker +1
Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of t…
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots
Jaemin Lee, Jeeseop Kim, Aaron D. Ames
The safety-critical control of robotic systems often must account for multiple, potentially conflicting, safety constraints. This paper proposes novel relaxation techniques to addr…