“Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with Wheeled-Quadrupedal-Manipulator” accepted by RA-L 2024
Our paper entitled "Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking…
“An Augmented Lagrangian Perspective on Differential Flatness-Based Control of Dual Spring-Loaded Inverted Pendulum Model” accepted by LCSS 2024
Our paper entitled "An Augmented Lagrangian Perspective on Differential Flatness-Based Control of…
“Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion” accepted by IROS 2024
Our paper entitled “Task-Space Riccati Feedback based Whole Body Control for Underactuated…
“GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement” accepted by CVPR 2024
Our paper entitled “GeoReF: Geometric Alignment Across Shape Variation for Category-level Object…
“CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion” accepted by RA-L 2024
Our paper entitled “CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion” is…
“Multi-Resolution Planar Region Extraction for Uneven Terrains” accepted by ICRA 2024
Our paper entitled “Multi-Resolution Planar Region Extraction for Uneven Terrains” is accepted…
“Real-Time Collision-Free Motion Planning and Control for Mobile Manipulation with Quadrupeds” accepted by ROBIO 2023
Our paper entitled “Real-Time Collision-Free Motion Planning and Control for MobileManipulation with…
“Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance” accepted by TRO 2023
Our paper entitled “Quadruped Capturability and Push Recovery via a Switched-Systems Characterization…
“Unbounded Cooperative Pursuit Using a Linearized Safe-Reachable Set” accepted by LCSS/ACC 2024
Our paper entitled “Unbounded Cooperative Pursuit Using a Linearized Safe-Reachable Set” is…
“A Geometric Sufficient Condition for Contact Wrench Feasibility” accepted by RA-L and IROS 2023
Our paper entitled “A Geometric Sufficient Condition for Contact Wrench Feasibility” is…
“A General Iterative Extended Kalman Filter Framework for State Estimation on Matrix Lie Groups ” accepted by CDC 2023
Our paper entitled “A General Iterative Extended Kalman Filter Framework for State…
“Fast Decentralized Multi-Agent Collision Avoidance Based on Safe-Reachable Sets” accepted by CDC 2023
Our paper entitled “Fast Decentralized Multi-Agent Collision Avoidance Based on Safe-Reachable Sets”…
“POMDP-Guided Active Force-Based Search for Robotic Insertion” accepted by IROS 2023
Our paper entitled “POMDP-Guided Active Force-Based Search for Robotic Insertion” is accepted…
“Reactive Dexterous Ungrasping with Tactile Sensing” accepted by CASE 2023
Our paper entitled “Reactive Dexterous Ungrasping with Tactile Sensing” is accepted by…
“A Modular End Effector with Active Rolling Fingertip for Picking Cloth-like Objects” accepted by CASE 2023
Our paper entitled “A Modular End Effector with Active Rolling Fingertip for…
“Vision-based Six-Dimensional Peg-in-Hole for Practical Connector Insertion” accepted by ICRA 2023
Our paper entitled “Vision-based Six-Dimensional Peg-in-Hole for Practical Connector Insertion” is accepted…
“HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimation”accepted by CVPR 2023
Our paper entitled “HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose…
“Improved Task Space Locomotion Controller for a Quadruped Robot with Parallel Mechanisms”accepted by IROS 2022
Our paper entitled “Improved Task Space Locomotion Controller for a Quadruped Robot…
“Three-Dimensional Dynamic Running with a Point-Foot Biped based on Differentially Flat SLIP” accepted by IROS 2022
Our paper entitled “Three-Dimensional Dynamic Running with a Point-Foot Biped based on…
SUSTech 3D Point-Foot Biped ( outdoor experiment )
http://www.wzhanglab.site/wp-content/uploads/2022/09/BIPED-II-PRESSED.mp4
SUSTech 3D Point-Foot Biped
http://www.wzhanglab.site/wp-content/uploads/2022/09/SUSTech-3D-Point-Foot-Biped-pressed.mp4
“TP-AE: Temporally Primed 6D Object Pose Tracking with Auto-Encoders”accepted by ICRA 2022
Our paper entitled “TP-AE: Temporally Primed 6D Object Pose Tracking with Auto-Encoders”…
“DynamicFilter: an Online Dynamic Objects Removal Framework for Highly Dynamic Environments” accepted by ICRA 2022
Our paper entitled "DynamicFilter: an Online Dynamic Objects Removal Framework for Highly…
New result on quadrupedal capturability and push recovery
This paper studies capturability and push recovery for quadrupedal locomotion. Despite the…
“Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum” accepted by RA-L/IROS 2021
Our paper entitled "Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum" is accepted…
“Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots” accepted by IROS 2021
Our paper entitled "Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots" is accepted…
“Quadruped Robot Hopping on Two Legs” accepted by IROS 2021
Our paper entitled "Quadruped Robot Hopping on Two Legs" is accepted by IROS 2021. This paper…
“Encirclement Guaranteed Cooperative Pursuit with Robust Model Predictive Control” accepted by IROS 2021
Our paper entitled “Encirclement Guaranteed Cooperative Pursuit with Robust Model Predictive Control” is accepted by IROS…
“Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot” accepted by IROS 2021
Our paper entitled “Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D…
Non-asymptotic Convergence of Adam-type Reinforcement Learning Algorithms under Markovian Sampling accepted to AAAI2021
Our paper entitled “Non-asymptotic Convergence of Adam-type Reinforcement Learning Algorithms under Markovian…
Finite-Time Analysis for Double Q-learning accepted for spotlight presentation at NeurIPS 2020.
Our paper entitled “Finite-Time Analysis for Double Q-learning” has been accepted for…
“Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots” to appear in IEEE Robotics and Automation Letters
Our paper entitled “Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal…
Perception-aware Planning and Control Scheme for Fully Autonmous and Dynamic Stair Climbing for Quadrupeds
We propose a novel perception-aware planning and control scheme for quadruepdal stair…
New Push Recovery Strategy for Quadruped
Our lab recently developed a new push recovery strategy for quadruped. Most…
“Transactive energy systems: The market-based coordination of distributed energy resources” IEEE Control Systems Magazine Cover Page Paper.
Our paper entitled “Transactive energy systems: The market-based coordination of distributed energy…
“Analysis of Q-learning with Adaptation and Momentum Restart for Gradient Descent”, to appear in IJCAI, 2020
Our new paper entitled, “Analysis of Q-learning with Adaptation and Momentum Restart…
Dynamic Obstacle Avoidance for Quadruped Robot
To enable quadruped robot to autonomously navigate through complex environment with dynamic…
“Analytical convergence regions of accelerated gradient descent in nonconvex optimization under Regularity Condition”, Automatica, Vol. 113, 2020.
Our new paper entitled “Analytical convergence regions of accelerated gradient descent in…
“Optimal Control Inspired Q-Learning for Switched Linear Systems”, ACC, 2020.
Our new paper entitled “Optimal Control Inspired Q-Learning for Switched Linear Systems”…
“Connections between mean-field game and social welfare optimization”, Automatica, Vol. 110, 2019.
Our new paper entitled “Connections between mean-field game and social welfare optimization”…
“Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model”, IEEE Robotics and Automation Letters, 5 (2), pp. 307-314, 2020.
Our new paper entitled “Optimal Control of a Differentially Flat 2D Spring-Loaded…
New Quadruped Robot 2019
Take a look at our in-house built quadruped robot with customized motor…
“Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning”, ICRA, 2020.
We present a novel model-free reinforcement learning (RL) framework to design feedback…
