4 papers
S2M-Trek: From Single to Multi-Sphere Transport via Per-Frame Deep Sets on a Wheel-Legged Robot
Zong Chen, Xuebin Li, Jinpeng Xiao +5
We study the problem of scaling dynamic loco-manipulation from a single free-rolling sphere to multiple spheres transported simultaneously on the back of a wheel-legged quadruped,…
Whole-body Motion Control of an Omnidirectional Wheel-Legged Mobile Manipulator via Contact-Aware Dynamic Optimization
Zong Chen, Shaoyang Li, Ben Liu +3
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified con…
Optimal Multilayered Motion Planning for Multiple Differential Drive Mobile Robots with Hierarchical Prioritization (OM-MP)
Zong Chen, Songyuan Fa, Yiqun Li
We present a novel framework for addressing the challenges of multi-Agent planning and formation control within intricate and dynamic environments. This framework transforms the Mu…
FDSPC: Fast and Direct Smooth Path Planning via Continuous Curvature Integration
Zong Chen, Yiqun Li
In recent decades, global path planning of robot has seen significant advancements. Both heuristic search-based methods and probability sampling-based methods have shown capabiliti…