2 citations · 2 across the 5 of their papers we have counts for
5 papers
Wallbounce : Push wall to navigate with Contact-Implicit MPC
Xiaohan Liu, Cunxi Dai, John Z. Zhang +3
In this work, we introduce a framework that enables highly maneuverable locomotion using non-periodic contacts. This task is challenging for traditional optimization and planning m…
Ubiquitous Field Transportation Robots with Robust Wheel-Leg Transformable Modules
Haoran Wang, Cunxi Dai, Siyuan Wang +6
This paper introduces two field transportation robots. Both robots are equipped with transformable wheel-leg modules, which can smoothly switch between operation modes and can work…
Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation
Cunxi Dai, Xiaohan Liu, Koushil Sreenath +2
This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown d…
Wheelchair Maneuvering with a Single-Spherical-Wheeled Balancing Mobile Manipulator
Cunxi Dai, Xiaohan Liu, Roberto Shu +1
In this work, we present a control framework to effectively maneuver wheelchairs with a dynamically stable mobile manipulator. Wheelchairs are a type of nonholonomic cart system, m…
SWheg: A Wheel-Leg Transformable Robot With Minimalist Actuator Realization
Cunxi Dai, Xiaohan Liu, Jianxiang Zhou +2
This article presents the design, implementation, and performance evaluation of SWheg, a novel modular wheel-leg transformable robot family with minimalist actuator realization. SW…