69 citations · 165 across the 19 of their papers we have counts for
20 papers
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions
Javier Borquez, Shuang Peng, Yiyu Chen +2
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing gu…
Adaptive Force-Based Control of Dynamic Legged Locomotion over Uneven Terrain
Mohsen Sombolestan, Quan Nguyen
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings.…
Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots
Mohsen Sombolestan, Quan Nguyen
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical con…
Learning Multimodal Bipedal Locomotion and Implicit Transitions: A Versatile Policy Approach
Lokesh Krishna, Quan Nguyen
In this paper, we propose a novel framework for synthesizing a single multimodal control policy capable of generating diverse behaviors (or modes) and emergent inherent transition…
Kinodynamics-based Pose Optimization for Humanoid Loco-manipulation
Junheng Li, Quan Nguyen
This paper presents a novel approach for controlling humanoid robots to push heavy objects. The approach combines kinodynamics-based pose optimization and loco-manipulation model p…
Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control
Alberto Rigo, Yiyu Chen, Satyandra K. Gupta +1
Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-p…
Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC
Junheng Li, Quan Nguyen
This paper presents a novel Adaptive-frequency MPC framework for bipedal locomotion over terrain with uneven stepping stones. In detail, we intend to achieve adaptive foot placemen…
Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots
Mohsen Sombolestan, Quan Nguyen
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging…
Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots
Junheng Li, Quan Nguyen
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The p…
Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control
Chuong Nguyen, Lingfan Bao, Quan Nguyen
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a f…
Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robots
Chuong Nguyen, Quan Nguyen
Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we…
Balancing Control and Pose Optimization for Wheel-legged Robots Navigating High Obstacles
Junheng Li, Junchao Ma, Quan Nguyen
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allow…
Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots
Junheng Li, Quan Nguyen
In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. Specifically, we present a formulation of MPC design…
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning
Guillaume Bellegarda, Yiyu Chen, Zhuochen Liu +1
Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning act…
Locomotion and Control of a Friction-Driven Tripedal Robot
Mark Hermes, Taylor McLaughlin, Mitul Luhar +1
This letter considers control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mas…
Robust Quadruped Jumping via Deep Reinforcement Learning
Guillaume Bellegarda, Chuong Nguyen, Quan Nguyen
In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable ro…
Safe and Robust Motion Planning for Dynamic Robotics via Control Barrier Functions
Aniketh Manjunath, Quan Nguyen
Control Barrier Functions (CBF) are widely used to enforce the safety-critical constraints on nonlinear systems. Recently, these functions are being incorporated into a path planni…
Adaptive Force-based Control for Legged Robots
Mohsen Sombolestan, Yiyu Chen, Quan Nguyen
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robot…
Robust Safety-Critical Control for Dynamic Robotics
Quan Nguyen, Koushil Sreenath
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-c…
Deep Visual Perception for Dynamic Walking on Discrete Terrain
Avinash Siravuru, Allan Wang, Quan Nguyen +1
Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such c…