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Viplanner: Visual semantic imperative learning for local navigation
Real-time path planning in outdoor environments still challenges modern robotic systems
due to differences in terrain traversability, diverse obstacles, and the necessity for fast …
due to differences in terrain traversability, diverse obstacles, and the necessity for fast …
idb-rrt: Sampling-based kinodynamic motion planning with motion primitives and trajectory optimization
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and
efficient tool for finding collision-free paths in robotic systems. However, adding dynamic …
efficient tool for finding collision-free paths in robotic systems. However, adding dynamic …
Reinforcement learning control for autonomous hydraulic material handling machines with underactuated tools
The precise and safe control of heavy material handling machines presents numerous
challenges due to the hard-to-model hydraulically actuated joints and the need for collision …
challenges due to the hard-to-model hydraulically actuated joints and the need for collision …
Research on the energy transfer and efficiency performance of an electro-hydrostatic actuator for wheel-legged robot joint
S Du, J Zhou, H peng Zhao, S Ma - Energy, 2024 - Elsevier
Intelligence and electrification stimulate the development of wheel-legged robots (WLRs),
providing excellent environmental adaptability and mobility. This paper investigates a novel …
providing excellent environmental adaptability and mobility. This paper investigates a novel …
A Convergence Guaranteed Multiple-Shooting DDP Method for Optimization-Based Robot Motion Planning
Optimization-based motion planning plays a pivotal role in addressing high-dimensional
robotic manipulation tasks. This article studies the multiple-shooting differential dynamic …
robotic manipulation tasks. This article studies the multiple-shooting differential dynamic …
A Hierarchical MPC for End-Effector Tracking Control of Legged Mobile Manipulators
D Wang, J Yu, S Wu, Z Li, C Li, R **ong… - IEEE Transactions …, 2024 - ieeexplore.ieee.org
This article presents a hierarchical model predictive control (MPC) framework for the end-
effector tracking control problem of a legged mobile manipulator. In the high-level part, a …
effector tracking control problem of a legged mobile manipulator. In the high-level part, a …
Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness
Quadruped robots demonstrate robust and agile movements in various terrains; however,
their navigation autonomy is still insufficient. One of the challenges is that the motion …
their navigation autonomy is still insufficient. One of the challenges is that the motion …
An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation
Dual-arm mobile manipulators can transport and manipulate large-size objects with simple
end-effectors. To interact with dynamic environments with strict safety and compliance …
end-effectors. To interact with dynamic environments with strict safety and compliance …
Control System of Wheel Leg Star Catalog Detection Robot Based on Hierarchical Path Planning Algorithm
S Song, Q Liu - IEEE Access, 2024 - ieeexplore.ieee.org
Due to the combination of wheeled structure and leg capability, the wheeled configuration of
legged robots is variable and the movement speed is fast, resulting in high work efficiency …
legged robots is variable and the movement speed is fast, resulting in high work efficiency …
Wallbounce: Push wall to navigate with Contact-Implicit MPC
In this work, we introduce a framework that enables highly maneuverable locomotion using
non-periodic contacts. This task is challenging for traditional optimization and planning …
non-periodic contacts. This task is challenging for traditional optimization and planning …