4 papers
Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach
Shibowen Zhang, Jiayang Wu, Guannan Liu +12
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offl…
ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking
Weidong Huang, Jingwen Zhang, Jiongye Li +6
Achieving stable and energy-efficient locomotion is essential for humanoid robots to operate continuously in real-world applications. Existing MPC and RL approaches often rely on e…
Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots
Jiayang Wu, Jiongye Li, Shibowen Zhang +8
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planni…
CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping
Zhicheng He, Jiayang Wu, Jingwen Zhang +6
Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to…