8 citations · 15 across the 7 of their papers we have counts for
8 papers
Diffusion Policy for Coordinated Control of a Nonholonomic Mobile Base and Dual Arms in Door Opening and Passing
Shangqun Yu, Matthew En, Daniel Wu +4
Opening heavy, self closing doors, especially those that require pulling remains a long standing challenge in robotics. Humans naturally employ both arms in a dexterous manner, rot…
Strong, Accurate, and Low-Cost Robot Manipulator
Georges Chebly, Spencer Little, Nisal Perera +3
This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0.63 kg payload, 0.467 m reach, and sub-millimeter repeat…
A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots
Daniel Marew, Nisal Perera, Shangqun Yu +2
Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs…
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains
Shangqun Yu, Nisal Perera, Daniel Marew +1
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learnin…
Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot
Neil Guan, Shangqun Yu, Shifan Zhu +1
Replicating the remarkable athleticism seen in animals has long been a challenge in robotics control. Although Reinforcement Learning (RL) has demonstrated significant progress in…
StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe
Nisal Perera, Shangqun Yu, Daniel Marew +6
We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe…
CEAR: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots
Shifan Zhu, Zixun Xiong, Donghyun Kim
When legged robots perform agile movements, traditional RGB cameras often produce blurred images, posing a challenge for rapid perception. Event cameras have emerged as a promising…
Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion
Daniel Marew, Misha Lvovsky, Shangqun Yu +2
In this paper, we present a Riemannian Motion Policy (RMP)flow-based whole-body control framework for improved dynamic legged locomotion. RMPflow is a differential geometry-inspire…