5 papers
VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
Lingwei Zhang, Jiaming Wang, Tianlin Zhang +5
Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissibl…
Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
Xuanqi Zeng, Lingwei Zhang, Linzhu Yue +4
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge…
Whole-Body Control Framework for Humanoid Robots with Heavy Limbs: A Model-Based Approach
Tianlin Zhang, Linzhu Yue, Hongbo Zhang +4
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operati…
Shared Object Manipulation with a Team of Collaborative Quadrupeds
Shengzhi Wang, Niels Dehio, Xuanqi Zeng +4
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In…
Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains
Linzhu Yue, Zhitao Song, Jinhu Dong +6
Natural terrain complexity often necessitates agile movements like jumping in animals to improve traversal efficiency. To enable similar capabilities in quadruped robots, complex r…