Výsledky vyhledávání - "Boyd, Nathan"

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Generalized Nash Equilibrium Models for Asymmetric, Non-cooperative Games on Line Graphs: Application to Water Resource Systems

Autor: Boyd, Nathan, Gabriel, Steven, Rest, George, Dumm, Tom

This paper investigates the game theory of resource-allocation situations where the "first come, first serve" heuristic creates inequitable, asymmetric benefits to the players. Specifically, this problem is formulated as a Generalized Nash Equilibriu

Externí odkaz: http://arxiv.org/abs/2206.07102

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Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion

Autor: Zhou, Ziyi, Wingo, Bruce, Boyd, Nathan, Hutchinson, Seth, Zhao, Ye

In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a reduced-order model an

Externí odkaz: http://arxiv.org/abs/2203.01548

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Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer

Autor: Han, Yunhai, Yu, Kelin, Batra, Rahul, Boyd, Nathan, Mehta, Chaitanya, Zhao, Tuo, She, Yu, Hutchinson, Seth, Zhao, Ye

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a Transformer-based r

Externí odkaz: http://arxiv.org/abs/2112.06374

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Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery

Autor: Gu, Zhaoyuan, Boyd, Nathan, Zhao, Ye

In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an essential capab

Externí odkaz: http://arxiv.org/abs/2110.03037

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Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Autor: Zhu, Hongwu, Wang, Dong, Boyd, Nathan, Zhou, Ziyi, Ruan, Lecheng, Zhang, Aidong, Ding, Ning, Zhao, Ye, Luo, Jianwen

Publikováno v: Frontier in Robotics and AI. 2021

Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as slopes and stai

Externí odkaz: http://arxiv.org/abs/2107.12479

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