2 papers
cs.RO2026
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…
cs.RO2024
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data
Hongbo Zhang, Zhongyu Li, Xuanqi Zeng +9
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while…