10 citations · 10 across the 5 of their papers we have counts for
5 papers
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…
Height Control and Optimal Torque Planning for Jumping With Wheeled-Bipedal Robots
Yulun Zhuang, Yuan Xu, Binxin Huang +5
This paper mainly studies the accurate height jumping control of wheeled-bipedal robots based on torque planning and energy consumption optimization. Due to the characteristics of…
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…
Sense, Imagine, Act: Multimodal Perception Improves Model-Based Reinforcement Learning for Head-to-Head Autonomous Racing
Elena Shrestha, Chetan Reddy, Hanxi Wan +2
Model-based reinforcement learning (MBRL) techniques have recently yielded promising results for real-world autonomous racing using high-dimensional observations. MBRL agents, such…