5 papers
ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots
Ruturaj S. Sambhus, Kapi Ketan Mehta, Yicheng Zeng +1
This paper presents a safety-critical distributed nonlinear model predictive control (DNMPC) framework for cooperative payload transportation by teams of quadrupedal robots. The pr…
Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
Ruturaj S. Sambhus, Yicheng Zeng, Kapi Ketan Mehta +2
This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The intercon…
ADMM-Based Distributed MPC with Control Barrier Functions for Safe Multi-Robot Quadrupedal Locomotion
Yicheng Zeng, Ruturaj S. Sambhus, Basit Muhammad Imran +3
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-…
Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion
Yicheng Zeng, Yuhao Huang, Xiaobin Xiong
State-of-the-art model-based control designs have been shown to be successful in realizing dynamic locomotion behaviors for robotic systems. The precision of the realized behaviors…
STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education
Yuhao Huang, Yicheng Zeng, Xiaobin Xiong
In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and…