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1708.06345
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Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model
19 August 2017
Ye Zhao
B. Fernández
Luis Sentis
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Papers citing
"Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model"
19 / 19 papers shown
Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis
Kasidit Muenprasitivej
Ye Zhao
Glen Chou
131
2
0
09 Oct 2025
EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning
Wei Zhu
Abirath Raju
Abdulaziz Shamsah
Anqi Wu
S. Hutchinson
Ye Zhao
392
2
0
16 Mar 2025
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control
Abdulaziz Shamsah
Krishanu Agarwal
Nigam Katta
Abirath Raju
Shreyas Kousik
Ye Zhao
303
11
0
24 Jun 2024
Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability
Kasidit Muenprasitivej
Jesse Jiang
Abdulaziz Shamsah
Samuel Coogan
Ye Zhao
351
8
0
25 Mar 2024
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
IEEE Transactions on robotics (IEEE Trans. Robot.), 2024
Zhaoyuan Gu
Yuntian Zhao
Yipu Chen
Rongming Guo
Jennifer K. Leestma
Gregory S Sawicki
Ye Zhao
226
17
0
24 Mar 2024
Signal Temporal Logic-Guided Model Predictive Control for Robust Bipedal Locomotion Resilient to Runtime External Perturbations
Zhaoyuan Gu
Rongming Guo
William Yates
Yipu Chen
Ye Zhao
185
1
0
17 Oct 2023
Socially Acceptable Bipedal Navigation: A Signal-Temporal-Logic- Driven Approach for Safe Locomotion
Abdulaziz Shamsah
Ye Zhao
340
0
0
15 Oct 2023
Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion
IEEE International Conference on Robotics and Automation (ICRA), 2023
Maegan Tucker
Kejun Li
Aaron D. Ames
323
4
0
09 Oct 2023
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations
IEEE International Conference on Robotics and Automation (ICRA), 2023
Zhaoyuan Gu
Rong Guo
William Yates
Yipu Chen
Ye Zhao
249
18
0
22 Sep 2023
Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model
A. Iqbal
Sushant Veer
Yan Gu
234
1
0
08 Jan 2023
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution
IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 2022
M. Cao
J. Warnke
Yunhai Han
Xinpei Ni
Ye Zhao
Samuel Coogan
260
12
0
03 Jun 2022
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces
A. Iqbal
Sushant Veer
Yan Gu
314
7
0
31 Jan 2022
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments
IEEE Transactions on robotics (TRO), 2021
James Hegarty
Zhaoyuan Gu
J. Warnke
Seth Hutchinson
Armin Alaghi
363
45
0
23 Oct 2021
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery
Zhaoyuan Gu
Nathan Boyd
Ye Zhao
248
17
0
06 Oct 2021
Toward Safety-Aware Informative Motion Planning for Legged Robots
Sangli Teng
Yukai Gong
J. Grizzle
Maani Ghaffari
209
42
0
26 Mar 2021
Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain
IEEE Conference on Decision and Control (CDC), 2020
J. Warnke
Abdulaziz Shamsah
Yingke Li
Ye Zhao
239
22
0
10 Sep 2020
Nonlinear Model Predictive Control for Robust Bipedal Locomotion: Exploring Angular Momentum and CoM Height Changes
Jiatao Ding
Chengxu Zhou
Songyan Xin
Xiaohui Xiao
Nikos Tsagarakis
180
10
0
18 Feb 2019
Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments
Ye Zhao
Yinan Li
Luis Sentis
Ufuk Topcu
Jun Liu
322
28
0
11 Nov 2018
Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics
Steve Heim
Alexander Badri-Spröwitz
227
21
0
21 Jun 2018
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