1 citations · 1 across the 3 of their papers we have counts for
4 papers · 1 filter
SurGE: Surrogate Gradient-guided Evolution for Co-design of Legged Robots with Parallel Elasticity
Yulun Zhuang, Yue Qin, Justin Lu +4
Co-design of legged robots with elastic elements is challenging due to the non-differentiability of contact dynamics and mechanism engagement. This paper presents SurGE, a framewor…
Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot
Yue Qin, Yulun Zhuang, Zelin Shen +1
In this letter, we present a hierarchical control framework that enables wheeled bipedal robots to perform planar object sliding tasks with their wheeled legs. The proposed approac…
Contact Sensing via Joint Torque Sensors and a Force/Torque Sensor for Legged Robots
Jared Grinberg, Yanran Ding
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a…
Kinodynamic Model Predictive Control for Energy Efficient Locomotion of Legged Robots with Parallel Elasticity
Yulun Zhuang, Yichen Wang, Yanran Ding
In this paper, we introduce a kinodynamic model predictive control (MPC) framework that exploits unidirectional parallel springs (UPS) to improve the energy efficiency of dynamic l…