7 papers
MAGMA: Multiplier-Augmented Geometric Motion Algorithm
César E. Ramos Chuquiure, Vansh Thakur, Challen Enninful Adu +1
Solving optimal control problems for high-dimensional mechanical systems subject to constraints remains challenging due to nonlinear dynamics and non-convex feasible sets. This pap…
LEAP: Gradient Flow Augmented Lagrangian Trajectory Optimization for Contact Constrained Robots
César E. Ramos Chuquiure, Ryan Tsai, Yutong Zhou +8
Generating dynamically feasible motions for legged and manipulating robots requires solving a large, nonlinear, non-convex optimal control problem (OCP) in which contact wrenches m…
Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints
Challen Enninful Adu, César E. Ramos Chuquiure, Yutong Zhou +5
The generation of optimal trajectories for high-dimensional robotic systems under constraints remains computationally challenging due to the need to simultaneously satisfy dynamic…
Provably-Safe, Online System Identification
Bohao Zhang, Zichang Zhou, Ram Vasudevan
Precise manipulation tasks require accurate knowledge of payload inertial parameters. Unfortunately, identifying these parameters for unknown payloads while ensuring that the robot…
Bring the Heat: Rapid Trajectory Optimization with Pseudospectral Techniques and the Affine Geometric Heat Flow Equation
Challen Enninful Adu, César E. Ramos Chuquiure, Bohao Zhang +1
Generating optimal trajectories for high-dimensional robotic systems in a time-efficient manner while adhering to constraints is a challenging task. This paper introduces PHLAME, w…
Rapid and Robust Trajectory Optimization for Humanoids
Bohao Zhang, Ram Vasudevan
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting…
System Identification For Constrained Robots
Bohao Zhang, Daniel Haugk, Ram Vasudevan
Identifying the parameters of robotic systems, such as motor inertia or joint friction, is critical to satisfactory controller synthesis, model analysis, and observer design. Conve…