Yangwei You
Agency for Science, Technology and Research
19 Papers
50 Citations
Yangwei You is an academic researcher from Agency for Science, Technology and Research. The author has contributed to research in topics: Robot & Computer science. The author has an hindex of 5, co-authored 17 publications. Previous affiliations of Yangwei You include Istituto Italiano di Tecnologia & Institute for Infocomm Research Singapore.
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Papers
Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model for Locomotion on Variable Ground
TL;DR: In this article, a contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments is presented.
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Towards More Possibilities: Motion Planning and Control for Hybrid Locomotion of Wheeled-Legged Robots
Jingyuan Sun,Yangwei You,Xuran Zhao,Albertus Hendrawan Adiwahono,Chee-Meng Chew +4 more
- 09 Mar 2020
TL;DR: The proposed control framework comes as a hierarchical structure with three layers: hybrid foot placement planning, Centre of Mass trajectory optimization and whole-body control, and general mathematical representation of foot movement to analyze different motion modes and decide hybrid foot placements.
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Straight leg walking strategy for torque-controlled humanoid robots
Yangwei You,Songyan Xin,Chengxu Zhou,Nikos G. Tsagarakis +3 more
- 01 Dec 2016
TL;DR: A simple yet efficient control strategy to realize straight leg walking of humanoid robots through the use of the simplified Linear Inverted Pendulum Model which constrains the Center of Mass in a horizontal plane is proposed.
Contact-Implicit Trajectory Optimization Using an Analytically Solvable Contact Model for Locomotion on Variable Ground
Iordanis Chatzinikolaidis,Yangwei You,Zhibin Li +2 more
- 21 Jul 2020
TL;DR: A novel contact model that can be computed in closed-form, satisfies friction cone constraints and can be embedded into direct trajectory optimization frameworks without complementarity constraints is proposed.
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3D Visibility Graph based Motion Planning and Control
Yangwei You,Caixia Cai,Yan Wu +2 more
- 22 Nov 2019
TL;DR: A pick-place task was successfully performed among obstacles by a simulated dual-arm quadrupedal robot considering the whole-body kinematics and stability, which demonstrated the feasibility of the proposed motion planning and control approach.
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