5 citations · 10 across the 7 of their papers we have counts for
7 papers
RAEM: Robust Autonomous Exploration for Multi-Floor Environments with a Quadruped Robot
Zikang Yuan, Yuan Ren, Yian Wang +10
In this paper, we propose RAEM, a robust autonomous exploration framework for quadruped robots operating in multi-floor environments. Most existing ground-robot exploration approac…
PEPA: a Persistently Autonomous Embodied Agent with Personalities
Kaige Liu, Yang Li, Lijun Zhu +1
Living organisms exhibit persistent autonomy through internally generated goals and self-sustaining behavioral organization, yet current embodied agents remain driven by externally…
Disturbance Estimation of Legged Robots: Predefined Convergence via Dynamic Gains
Bolin Li, Peiyuan Cai, Gewei Zuo +2
In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages…
A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
Bolin Li, Wentao Zhang, Xuecong Huang +2
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance…
Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot
Wentao Zhang, Shaohang Xu, Gewei Zuo +3
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the…
Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness
Wentao Zhang, Shaohang Xu, Peiyuan Cai +1
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capa…
Wasserstein Distributionally Robust Chance Constrained Trajectory Optimization for Mobile Robots within Uncertain Safe Corridor
Shaohang Xu, Haolin Ruan, Wentao Zhang +3
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, offering global optimality through its convex…