45 citations · 47 across the 3 of their papers we have counts for
3 papers
Barrier Functions in Cascaded Controller: Safe Quadrotor Control
Mouhyemen Khan, Munzir Zafar, Abhijit Chatterjee
Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challe…
Hierarchical Optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids
Munzir Zafar, Seth Hutchinson, Evangelos A. Theodorou
In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically balancing themselves on…
Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot
Munzir Zafar, Akash Patel, Bogdan Vlahov +3
We present a novel application of robust control and online learning for the balancing of a n Degree of Freedom (DoF), Wheeled Inverted Pendulum (WIP) humanoid robot. Our technique…