6 Papers Accepted by IROS 2021

  • Jul , 2021

Six papers from CLEAR LAB have been accepted by IROS 2021! IROS (IEEE/RSJ International Conference on Intelligent Robots and Systems) is one of two flagship robotic conferences (another is ICRA).  Five of the accepted papers are on legged robots, and one paper is about pursuit evasion game. Congratulations!!!!

1. Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots, by Shunpeng Yang, Hua Chen, Zhen Fu, and Wei Zhang

Fig: The complete control framework with the proposed stabilizer based on force feedback

Fig: Video snapshot

2. Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot, by Guillermo A. Castillo, Bowen Weng, Wei Zhang, and Ayonga Hereid

Fig: Video snapshot

3. Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum, by Junwei Liu, Hua Chen, Patrick M. Wensing, and Wei Zhang (RA-L with IROS)

Fig: The ICI induces a constant input enabling balance under an inclined push

Fig: Monte Carlo simulation results of the ICI-based nonlinear controller and the DCM-based linearization controller (10000 samples)

4. Perceptive Autonomous Stair Climbing for Quadrupedal Robots, by Shuhao Qi, Wenchun Lin, Zejun Hong, Hua Chen, and Wei Zhang

Fig: Video snapshot

5. Quadruped Robot Hopping on Two Legs,  by Shenggao Li , Hua Chen , Wei Zhang , and Patrick M. Wensing

Fig: Video snapshot

6. Encirclement Guaranteed Cooperative Pursuit with Robust Model Predictive Control, by Chen Wang, Hua Chen, Jia Pan, and Wei Zhang

Fig: Video snapshot

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