3 citations · 5 across the 6 of their papers we have counts for
6 papers
Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains
Junheng Li, Ziwei Duan, Junchao Ma +1
Reduced-order-model-based optimal control techniques for humanoid locomotion struggle to adapt step duration and placement simultaneously in dynamic walking gaits due to their reli…
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…
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…
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…
Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research
Junheng Li, Junchao Ma, Omar Kolt +2
Despite their remarkable advancement in locomotion and manipulation, humanoid robots remain challenged by a lack of synchronized loco-manipulation control, hindering their full dyn…
Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects
Alberto Rigo, Muqun Hu, Satyandra K. Gupta +1
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However,…