Ye Zhao

128 papers A* 9A 5C 4Misc 2Journal 92Unranked 16
YearRankTypeTitle / Venue / Authors
2026 J jnl
STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain.
IEEE Robotics Autom. Lett.
Ziwon Yoon, Lawrence Y. Zhu, Jingxi Lu, Lu Gan, Ye Zhao
2026 J jnl
TRANS: Terrain-aware Reinforcement Learning for Agile Navigation of Quadruped Robots under Social Interactions.
CoRR
Wei Zhu, Irfan Tito Kurniawan, Ye Zhao, Mitsuhiro Hayashibe
2025 J jnl
Accelerating Signal-Temporal-Logic-Based Task and Motion Planning of Bipedal Navigation using Benders Decomposition.
CoRR
Jiming Ren, Xuan Lin, Roman Mineyev, Karen M. Feigh, Samuel Coogan, Ye Zhao
2025 J jnl
Adaptive Obstacle-Aware Task Assignment and Planning for Heterogeneous Robot Teaming.
CoRR
Nan Li, Jiming Ren, Haris Miller, Samuel Coogan, Karen M. Feigh, Ye Zhao
2025 A* conf
Dynamic Gap: Safe Gap-based Navigation in Dynamic Environments.
ICRA
Max Asselmeier, Dhruv Ahuja, Abdel Zaro, Ahmad Abuaish, Ye Zhao, Patricio A. Vela
2025 J jnl
EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning.
CoRR
Wei Zhu, Abirath Raju, Abdulaziz Shamsah, Anqi Wu, Seth A. Hutchinson, Ye Zhao
2025 J jnl
Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning.
CoRR
Zhaoyuan Gu, Junheng Li, Wenlan Shen, Wenhao Yu, Zhaoming Xie, Stephen McCrory, Xianyi Cheng, Abdulaziz Shamsah, Robert J. Griffin, C. Karen Liu, Abderrahmane Kheddar, Xue Bin Peng, Yuke Zhu, Guanya Shi, Quan Nguyen, Gordon Cheng, Huijun Gao, Ye Zhao
2025 J jnl
Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion Over Real-World Uneven Terrain.
IEEE Robotics Autom. Lett.
Feiyang Wu, Xavier Nal, Jaehwi Jang, Wei Zhu, Zhaoyuan Gu, Anqi Wu, Ye Zhao
2025 J jnl
Opt2Skill: Imitating Dynamically-Feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation.
IEEE Robotics Autom. Lett.
Fukang Liu, Zhaoyuan Gu, Yilin Cai, Ziyi Zhou, Hyunyoung Jung, Jaehwi Jang, Shijie Zhao, Sehoon Ha, Yue Chen, Danfei Xu, Ye Zhao
2025 A* conf
Optimization-Based Task and Motion Planning Under Signal Temporal Logic Specifications Using Logic Network Flow.
ICRA
Xuan Lin, Jiming Ren, Samuel Coogan, Ye Zhao
2025 J jnl
PINN-Based Predictive Control Combined With Unknown Payload Identification for Robots With Prismatic Quasi-Direct-Drives.
IEEE Robotics Autom. Lett.
Haolin Li, Haotang Chen, Yikang Chai, Hang Zhao, Ye Zhao, Yu Han, Jianwen Luo
2025 J jnl
PPF: Pre-Training and Preservative Fine-Tuning of Humanoid Locomotion via Model-Assumption-Based Regularization.
IEEE Robotics Autom. Lett.
Hyunyoung Jung, Zhaoyuan Gu, Ye Zhao, Hae-Won Park, Sehoon Ha
2025 A conf
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair.
IROS
Ziyi Zhou, Qian Meng, Hadas Kress-Gazit, Ye Zhao
2025 J jnl
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair.
CoRR
Ziyi Zhou, Qian Meng, Hadas Kress-Gazit, Ye Zhao
2025 J jnl
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion.
CoRR
Ziyi Zhou, Qian Meng, Hadas Kress-Gazit, Ye Zhao
2025 J jnl
Physics-informed Neural Network Predictive Control for Quadruped Locomotion.
CoRR
Haolin Li, Yikang Chai, Bailin Lv, Lecheng Ruan, Hang Zhao, Ye Zhao, Jianwen Luo
2025 J jnl
PreCi: Pretraining and Continual Improvement of Humanoid Locomotion via Model-Assumption-Based Regularization.
CoRR
Hyunyoung Jung, Zhaoyuan Gu, Ye Zhao, Hae-Won Park, Sehoon Ha
2025 J jnl
Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis.
CoRR
Kasidit Muenprasitivej, Ye Zhao, Glen Chou
2025 J jnl
RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain.
CoRR
Junnosuke Kamohara, Feiyang Wu, Chinmayee Wamorkar, Seth Hutchinson, Ye Zhao
2025 J jnl
Robust-Locomotion-By-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control.
IEEE Trans. Robotics
Zhaoyuan Gu, Yuntian Zhao, Yipu Chen, Rongming Guo, Jennifer K. Leestma, Gregory S. Sawicki, Ye Zhao
2025 J jnl
SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation.
CoRR
Jaehwi Jang, Zhuoheng Wang, Ziyi Zhou, Feiyang Wu, Ye Zhao
2025 J jnl
STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain.
CoRR
Ziwon Yoon, Lawrence Y. Zhu, Lu Gan, Ye Zhao
2025 J jnl
Safe Gap-based Planning in Dynamic Settings.
CoRR
Max Asselmeier, Abdel Zaro, Dhruv Ahuja, Ye Zhao, Patricio A. Vela
2025 J jnl
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control.
IEEE Trans Autom. Sci. Eng.
Abdulaziz Shamsah, Krishanu Agarwal, Nigam Katta, Abirath Raju, Shreyas Kousik, Ye Zhao
2025 J jnl
Steppability-informed Quadrupedal Contact Planning through Deep Visual Search Heuristics.
CoRR
Max Asselmeier, Ye Zhao, Patricio A. Vela
2025 A* conf
Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks.
ICRA
Abdulaziz Shamsah, Jesse Jiang, Ziwon Yoon, Samuel Coogan, Ye Zhao
2025 J jnl
Towards Tighter Convex Relaxation of Mixed-integer Programs: Leveraging Logic Network Flow for Task and Motion Planning.
CoRR
Xuan Lin, Jiming Ren, Yandong Luo, Weijun Xie, Ye Zhao
2025 J jnl
VibTac: A High-Resolution High-Bandwidth Tactile Sensing Finger for Multi-Modal Perception in Robotic Manipulation.
IEEE Trans. Haptics
Sheeraz Athar, Xinwei Zhang, Jun Ueda, Ye Zhao, Yu She
2024 J jnl
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches.
CoRR
Zhigen Zhao, Shuo Cheng, Yan Ding, Ziyi Zhou, Shiqi Zhang, Danfei Xu, Ye Zhao
2024 J jnl
A Unified Approach to Multi-task Legged Navigation: Temporal Logic Meets Reinforcement Learning.
CoRR
Jesse Jiang, Samuel Coogan, Ye Zhao
2024 A conf
Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability.
IROS
Kasidit Muenprasitivej, Jesse Jiang, Abdulaziz Shamsah, Samuel Coogan, Ye Zhao
2024 J jnl
Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability.
CoRR
Kasidit Muenprasitivej, Jesse Jiang, Abdulaziz Shamsah, Samuel Coogan, Ye Zhao
2024 A* conf
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal.
ICRA
Max Asselmeier, Jane Ivanova, Ziyi Zhou, Patricio A. Vela, Ye Zhao
2024 A* conf
Infer and Adapt: Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning.
ICRA
Feiyang Wu, Zhaoyuan Gu, Hanran Wu, Anqi Wu, Ye Zhao
2024 A conf
LTL-D*: Incrementally Optimal Replanning for Feasible and Infeasible Tasks in Linear Temporal Logic Specifications.
IROS
Jiming Ren, Haris Miller, Karen M. Feigh, Samuel Coogan, Ye Zhao
2024 J jnl
LTL-D*: Incrementally Optimal Replanning for Feasible and Infeasible Tasks in Linear Temporal Logic Specifications.
CoRR
Jiming Ren, Haris Miller, Karen M. Feigh, Samuel Coogan, Ye Zhao
2024 J jnl
Learn to Teach: Improve Sample Efficiency in Teacher-student Learning for Sim-to-Real Transfer.
CoRR
Feiyang Wu, Zhaoyuan Gu, Ye Zhao, Anqi Wu
2024 C conf
Local-Global Interval MDPs for Efficient Motion Planning with Learnable Uncertainty.
ACC
Jesse Jiang, Ye Zhao, Samuel Coogan
2024 Misc conf
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation.
CoRL
Kelin Yu, Yunhai Han, Qixian Wang, Vaibhav Saxena, Danfei Xu, Ye Zhao
2024 J jnl
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation.
CoRR
Fukang Liu, Zhaoyuan Gu, Yilin Cai, Ziyi Zhou, Shijie Zhao, Hyunyoung Jung, Sehoon Ha, Yue Chen, Danfei Xu, Ye Zhao
2024 J jnl
Optimization-based Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow.
CoRR
Xuan Lin, Jiming Ren, Samuel Coogan, Ye Zhao
2024 A conf
Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation.
IROS
Abdulaziz Shamsah, Krishanu Agarwal, Shreyas Kousik, Ye Zhao
2024 J jnl
Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation.
CoRR
Abdulaziz Shamsah, Krishanu Agarwal, Shreyas Kousik, Ye Zhao
2024 J jnl
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control.
CoRR
Zhaoyuan Gu, Yuntian Zhao, Yipu Chen, Rongming Guo, Jennifer K. Leestma, Gregory S. Sawicki, Ye Zhao
2024 J jnl
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control.
CoRR
Abdulaziz Shamsah, Krishanu Agarwal, Nigam Katta, Abirath Raju, Shreyas Kousik, Ye Zhao
2024 J jnl
Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks.
CoRR
Abdulaziz Shamsah, Jesse Jiang, Ziwon Yoon, Samuel Coogan, Ye Zhao
2024 A* conf
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations.
ICRA
Zhaoyuan Gu, Rongming Guo, William Yates, Yipu Chen, Yuntian Zhao, Ye Zhao
2023 A* conf
GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation.
ICRA
Shiyu Feng, Ziyi Zhou, Justin S. Smith, Max Asselmeier, Ye Zhao, Patricio A. Vela
2023 J jnl
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal.
CoRR
Max Asselmeier, Jane Ivanova, Ziyi Zhou, Patricio A. Vela, Ye Zhao
2023 — conf
Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs.
ICAR
Shuai Wang, Jingfan Zhang, Weiyi Kong, Chong Zhang, Jie Lai, Dongsheng Zhang, Chunyan Wang, Ke Chen, Zhaoyuan Gu, Ye Zhao, Ke Zhang, Yu Zheng
2023 J jnl
Infer and Adapt: Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning.
CoRR
Feiyang Wu, Zhaoyuan Gu, Hanran Wu, Anqi Wu, Ye Zhao
2023 J jnl
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments.
IEEE Trans. Robotics
Abdulaziz Shamsah, Zhaoyuan Gu, Jonas Warnke, Seth Hutchinson, Ye Zhao
2023 J jnl
Integrating Reconfigurable Foot Design, Multi-modal Contact Sensing, and Terrain Classification for Bipedal Locomotion.
CoRR
Ted Tyler, Vaibhav Malhotra, Adam Montague, Zhigen Zhao, Frank L. Hammond III, Ye Zhao
2023 J jnl
MimicTouch: Learning Human's Control Strategy with Multi-Modal Tactile Feedback.
CoRR
Kelin Yu, Yunhai Han, Matthew Zhu, Ye Zhao
2023 Misc conf
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills.
CoRL
Yunhai Han, Mandy Xie, Ye Zhao, Harish Ravichandar
2023 J jnl
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills.
CoRR
Yunhai Han, Mandy Xie, Ye Zhao, Harish Ravichandar
2023 J jnl
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation.
IEEE Trans. Robotics
Lasitha Wijayarathne, Ziyi Zhou, Ye Zhao, Frank L. Hammond
2023 J jnl
Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments.
CoRR
Hongyi Chen, Shiyu Feng, Ye Zhao, Changliu Liu, Patricio A. Vela
2023 J jnl
Signal Temporal Logic-Guided Model Predictive Control for Robust Bipedal Locomotion Resilient to Runtime External Perturbations.
CoRR
Zhaoyuan Gu, Rongming Guo, William Yates, Yipu Chen, Ye Zhao
2023 J jnl
Socially Acceptable Bipedal Navigation: A Signal-Temporal-Logic- Driven Approach for Safe Locomotion.
CoRR
Abdulaziz Shamsah, Ye Zhao
2023 J jnl
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations.
CoRR
Zhaoyuan Gu, Rongming Guo, William Yates, Yipu Chen, Ye Zhao
2022 — conf
Adversarially Regularized Policy Learning Guided by Trajectory Optimization.
L4DC
Zhigen Zhao, Simiao Zuo, Tuo Zhao, Ye Zhao
2022 C conf
Agile Locomotion and Backflip Demonstrations on Mini Cheetah.
ACC
Ziyi Zhou, Nathan Boyd, Vishwa Ramkumar, Max Asselmeier, Ye Zhao
2022 J jnl
Dynamic Gap: Formal Guarantees for Safe Gap-based Navigation in Dynamic Environments.
CoRR
Max Asselmeier, Ye Zhao, Patricio A. Vela
2022 J jnl
Estimation of CoM and CoP Trajectories During Human Walking Based on a Wearable Visual Odometry Device.
IEEE Trans Autom. Sci. Eng.
Jianwen Luo, Ye Zhao, Lecheng Ruan, Shixin Mao, Chenglong Fu
2022 — conf
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution.
SSRR
Michael Enqi Cao, Xinpei Ni, Jonas Warnke, Yunhai Han, Samuel Coogan, Ye Zhao
2022 J jnl
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution.
CoRR
Michael Enqi Cao, Jonas Warnke, Yunhai Han, Xinpei Ni, Ye Zhao, Samuel Coogan
2022 J jnl
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion.
CoRR
Ziyi Zhou, Bruce Wingo, Nathan Boyd, Seth Hutchinson, Ye Zhao
2022 J jnl
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion.
IEEE Robotics Autom. Lett.
Ziyi Zhou, Bruce Wingo, Nathan Boyd, Seth Hutchinson, Ye Zhao
2022 C conf
Multi-Robot Collaboration with Heterogeneous Capabilities.
ACC
Yunhai Han, Nathan Boyd, Xinpei Ni, Ye Zhao
2022 A* conf
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery.
ICRA
Zhaoyuan Gu, Nathan Boyd, Ye Zhao
2022 — conf
Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming.
CASE
Ziyi Zhou, Dong Jae Lee, Yuki Yoshinaga, Stephen Balakirsky, Dejun Guo, Ye Zhao
2022 J jnl
Reactive task and motion planning for robust whole-body dynamic locomotion in constrained environments.
Int. J. Robotics Res.
Ye Zhao, Yinan Li, Luis Sentis, Ufuk Topcu, Jun Liu
2022 J jnl
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation.
CoRR
Lasitha Wijayarathne, Ziyi Zhou, Ye Zhao, Frank L. Hammond III
2022 — conf
Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments.
CDC
Hongyi Chen, Shiyu Feng, Ye Zhao, Changliu Liu, Patricio A. Vela
2022 J jnl
Safe Learning for Uncertainty-Aware Planning via Interval MDP Abstraction.
CoRR
Jesse Jiang, Ye Zhao, Samuel Coogan
2022 J jnl
Safe Learning for Uncertainty-Aware Planning via Interval MDP Abstraction.
IEEE Control. Syst. Lett.
Jesse Jiang, Ye Zhao, Samuel Coogan
2021 J jnl
Adversarially Regularized Policy Learning Guided by Trajectory Optimization.
CoRR
Zhigen Zhao, Simiao Zuo, Tuo Zhao, Ye Zhao
2021 J jnl
High-Payload Online Identification and Adaptive Control for an Electrically-actuated Quadruped Robot.
CoRR
Bingchen Jin, Shusheng Ye, Juntong Su, Chaoyang Song, Ye Zhao, Aidong Zhang, Ning Ding, Jianwen Luo
2021 J jnl
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments.
CoRR
Abdulaziz Shamsah, Jonas Warnke, Zhaoyuan Gu, Ye Zhao
2021 J jnl
Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer.
CoRR
Yunhai Han, Rahul Batra, Nathan Boyd, Tuo Zhao, Yu She, Seth Hutchinson, Ye Zhao
2021 A* conf
Mass Estimation of a Moving Object Through Minimal Manipulation Interaction.
ICRA
Sergio Aguilera, Muhammad Ali Murtaza, Ye Zhao, Seth Hutchinson
2021 J jnl
Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints.
Frontiers Robotics AI
Luke Drnach, John Z. Zhang, Ye Zhao
2021 J jnl
Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraints.
CoRR
John Z. Zhang, Luke Drnach, Ye Zhao
2021 J jnl
Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks.
IEEE Robotics Autom. Lett.
Jianwen Luo, Zelin Gong, Yao Su, Lecheng Ruan, Ye Zhao, H. Harry Asada, Chenglong Fu
2021 J jnl
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery.
CoRR
Zhaoyuan Gu, Nathan Boyd, Ye Zhao
2021 J jnl
Reactive Task Allocation and Planning of A Heterogeneous Multi-Robot System.
CoRR
Ziyi Zhou, Dong Jae Lee, Yuki Yoshinaga, Dejun Guo, Ye Zhao
2021 J jnl
Robust Trajectory Optimization Over Uncertain Terrain With Stochastic Complementarity.
IEEE Robotics Autom. Lett.
Luke Drnach, Ye Zhao
2021 J jnl
Safe Reinforcement Learning With Stability Guarantee for Motion Planning of Autonomous Vehicles.
IEEE Trans. Neural Networks Learn. Syst.
Lixian Zhang, Ruixian Zhang, Tong Wu, Rui Weng, Minghao Han, Ye Zhao
2021 J jnl
SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments.
IEEE Access
Zhigen Zhao, Ziyi Zhou, Michael Park, Ye Zhao
2021 J jnl
Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation.
Frontiers Robotics AI
Hongwu Zhu, Dong Wang, Nathan Boyd, Ziyi Zhou, Lecheng Ruan, Aidong Zhang, Ning Ding, Ye Zhao, Jianwen Luo
2021 J jnl
Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation.
CoRR
Hongwu Zhu, Dong Wang, Ganyu Deng, Nathan Boyd, Ziyi Zhou, Lecheng Ruan, Caiming Sun, Aidong Zhang, Ning Ding, Ye Zhao, Jianwen Luo
2020 J jnl
A non-periodic planning and control framework of dynamic legged locomotion.
Int. J. Intell. Robotics Appl.
Ye Zhao, Yan Gu
2020 C conf
Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics.
ACC
Ziyi Zhou, Ye Zhao
2020 J jnl
Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics.
CoRR
Ziyi Zhou, Ye Zhao
2020 J jnl
Asynchronous observer design for switched linear systems: a tube-based approach.
IEEE CAA J. Autom. Sinica
Minghao Han, Ruixian Zhang, Lixian Zhang, Ye Zhao, Wei Pan
2020 J jnl
Robust Bipedal Locomotion Based on a Hierarchical Control Structure - CORRIGENDUM.
Robotica
Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu
2020 J jnl
Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementarity.
CoRR
Luke Drnach, Ye Zhao
2020 A conf
Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics.
IROS
Lasitha Wijayarathne, Qie Sima, Ziyi Zhou, Ye Zhao, Frank L. Hammond
2020 J jnl
Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics.
CoRR
Lasitha Wijayarathne, Qie Sima, Ziyi Zhou, Ye Zhao, Frank L. Hammond III
2020 — conf
Soft Foot Sensor Design and Terrain Classification for Dynamic Legged Locomotion.
RoboSoft
Xiaofeng Guo, Bryan Blaise, Jennifer L. Molnar, Jeremiah M. Coholich, Shantanu Padte, Ye Zhao, Frank L. Hammond III
2020 J jnl
SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments.
CoRR
Zhigen Zhao, Ziyi Zhou, Michael Park, Ye Zhao
2020 — conf
Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain.
CDC
Jonas Warnke, Abdulaziz Shamsah, Yingke Li, Ye Zhao
2020 J jnl
Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain.
CoRR
Jonas Warnke, Abdulaziz Shamsah, Yingke Li, Ye Zhao
2019 J jnl
Robust Bipedal Locomotion Based on a Hierarchical Control Structure.
Robotica
Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu
2018 J jnl
Distributed Impedance Control of Latency-Prone Robotic Systems with Series Elastic Actuation.
CoRR
Ye Zhao, Luis Sentis
2018 J jnl
Impedance Control and Performance Measure of Series Elastic Actuators.
IEEE Trans. Ind. Electron.
Ye Zhao, Nicholas Paine, Steven Jens Jorgensen, Luis Sentis
2018 J jnl
Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments.
CoRR
Ye Zhao, Yinan Li, Luis Sentis, Ufuk Topcu, Jun Liu
2018 J jnl
Variable stiffness control of series elastic actuated biped locomotion.
Intell. Serv. Robotics
Jianwen Luo, Shuguo Wang, Ye Zhao, Yili Fu
2017 — conf
Locomotion control of three dimensional passive-foot biped robot based on whole body operational space framework.
ROBIO
Jianwen Luo, Ye Zhao, Donghyun Kim, Oussama Khatib, Luis Sentis
2017 J jnl
Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model.
CoRR
Ye Zhao, Benito R. Fernández, Luis Sentis
2017 J jnl
Robust optimal planning and control of non-periodic bipedal locomotion with a centroidal momentum model.
Int. J. Robotics Res.
Ye Zhao, Benito R. Fernández, Luis Sentis
2017 — conf
Towards understanding visually guided locomotion over complex and rough terrain: A phase-space planning method.
ARSO
Ye Zhao, Jonathan S. Matthis, Sean L. Barton, Mary M. Hayhoe, Luis Sentis
2016 — conf
High-level planner synthesis for whole-body locomotion in unstructured environments.
CDC
Ye Zhao, Ufuk Topcu, Luis Sentis
2016 — conf
Passivity of time-delayed whole-body operational space control with series elastic actuation.
Humanoids
Ye Zhao, Luis Sentis
2016 — conf
Robust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies.
Robotics: Science and Systems
Ye Zhao, Benito R. Fernández, Luis Sentis
2016 J jnl
Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control.
IEEE Trans. Robotics
Donghyun Kim, Ye Zhao, Gray C. Thomas, Benito R. Fernández, Luis Sentis
2015 J jnl
A Framework for Planning and Controlling Non-Periodic Bipedal Locomotion.
CoRR
Ye Zhao, Benito R. Fernández, Luis Sentis
2015 J jnl
Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking.
CoRR
Donghyun Kim, Ye Zhao, Gray C. Thomas, Luis Sentis
2015 — conf
Hybrid multi-contact dynamics for wedge jumping locomotion behaviors.
HSCC
Ye Zhao, Donghyun Kim, Gray C. Thomas, Luis Sentis
2015 J jnl
Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers.
CoRR
Ye Zhao, Nicholas Paine, Kwan-Suk Kim, Luis Sentis
2015 J jnl
Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers.
IEEE Trans. Ind. Electron.
Ye Zhao, Nicholas Paine, Kwan-Suk Kim, Luis Sentis
2014 — conf
Feedback parameter selection for impedance control of series elastic actuators.
Humanoids
Ye Zhao, Nicholas Paine, Luis Sentis
2013 — conf
Phase space planning and robust control for data-driven locomotion behaviors.
Humanoids
Ye Zhao, Donghyun Kim, Benito R. Fernández, Luis Sentis
2012 — conf
A three dimensional foot placement planner for locomotion in very rough terrains.
Humanoids
Ye Zhao, Luis Sentis
2012 J jnl
Active Suspension Control With Frequency Band Constraints and Actuator Input Delay.
IEEE Trans. Ind. Electron.
Weichao Sun, Ye Zhao, Jinfu Li, Lixian Zhang, Huijun Gao
2011 J jnl
Asynchronous Filtering of Discrete-Time Switched Linear Systems With Average Dwell Time.
IEEE Trans. Circuits Syst. I Regul. Pap.
Lixian Zhang, Naigang Cui, Ming Liu, Ye Zhao
2011 J jnl
Robust Stability Criterion for Discrete-Time Uncertain Markovian Jumping Neural Networks With Defective Statistics of Modes Transitions.
IEEE Trans. Neural Networks
Ye Zhao, Lixian Zhang, Shen Shen, Huijun Gao