5 papers
Online Constraint Optimization-Based Indirect-Adaptive Robust Control for Autonomous Vehicles with Unknown Friction
Yupeng Zhou, I-Chia Chang, Ziran Wang +1
Friction uncertainty is a significant challenge for autonomous vehicle control, undermining feasibility and performance. This paper proposes a novel two-layer control framework to…
Adaptive Rejection of Unknown Hybrid Sinusoidal Disturbances with Application to Humanoid Walking under Unknown Ground Motion
I-Chia Chang, Jacob Stewart, Petros A. Ioannou +1
Legged robot control is not yet practical in non-inertial environments, where the ground and surroundings accelerate in the inertial Earth frame, mainly because of the unknown, tim…
A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin +5
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting…
Vectorizing Projection in Manifold-Constrained Motion Planning for Real-Time Whole-Body Control
Shrutheesh R Iyer, I-Chia Chang, Andrew Z. Liu +2
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorith…
HybridMimic: Hybrid RL-Centroidal Control for Humanoid Motion Mimicking
Ludwig Chee-Ying Tay, I-Chia Chang, Yan Gu
Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Althoug…