4 papers
PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
Kunal S. Narkhede, Abhijeet M. Kulkarni, Guoquan Huang +1
Autonomous robot navigation requires the rapid generation of obstacle-free regions for trajectory planning. However, existing corridor generators struggle to meet real-time, sensor…
Proprioceptive-only State Estimation for Legged Robots with Set-Coverage Measurements of Learned Dynamics
Abhijeet M. Kulkarni, Ioannis Poulakakis, Guoquan Huang
Proprioceptive-only state estimation is attractive for legged robots since it is computationally cheaper and is unaffected by perceptually degraded conditions. The history of joint…
Learning Neural Observer-Predictor Models for Limb-level Sampling-based Locomotion Planning
Abhijeet M. Kulkarni, Ioannis Poulakakis, Guoquan Huang
Accurate full-body motion prediction is essential for the safe, autonomous navigation of legged robots, enabling critical capabilities like limb-level collision checking in clutter…
Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped
Michail Papadakis, Jørgen Anker Olsen, Ioannis Poulakakis +1
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accu…