Published in IEEE Transactions on Robotics, 2024
contact-implicit model predictive control
Recommended citation: Le Cleach, Simon and Howell, Taylor A and Yang, Shuo and Lee, Chi-Yen and Zhang, John and Bishop, Arun and Schwager, Mac and Manchester, Zachary. Fast contact-implicit model predictive control. IEEE Transactions on Robotics
Published in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
A Multi-IMU Leg Odometry
Recommended citation: Yang S, Zhang Z, Bokser B, et al. Multi-IMU Proprioceptive Odometry for Legged Robots[C]//2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2023: 774-779.
Published in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
A Visual-Inertial-Leg Odometry
Recommended citation: Yang, Shuo and Zhang, Zixin and Fu, Zhengyu and Manchester, Zachary. "Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion; In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
Published in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
A MPC controller for a novel quadruped robot
Recommended citation: Chi-yen Lee and Yang, Shuo and Bokser, Benjamin and Manchester, Zachary. "Enhanced Balance for Legged Robots Using Reaction Wheels; In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.
Published in IEEE Robotics And Automation Letters & 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Calibrate kinematic parameters online for legged robots.
Recommended citation: Yang, Shuo and Choset, Howie and Manchester, Zachary. "Online Kinematic Calibration for Legged Robots," in IEEE Robotics and Automation Letters, 2022, doi: 10.1109/LRA.2022.3186501 https://ieeexplore.ieee.org/document/9807408
Published in 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
A theoratical attempt to unify trajectory generation and state estimation.
Recommended citation: Yang, Shuo, Gerry Chen, Yetong Zhang, Howie Choset, and Frank Dellaert. "Equality constrained linear optimal control with factor graphs." In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 9717-9723. IEEE, 2021. https://ieeexplore.ieee.org/abstract/document/9562000
Published in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
A quadrotor controller developed by me and my DJI colleagues.
Recommended citation: Yu, Yun, Shuo Yang, Mingxi Wang, Cheng Li, and Zexiang Li. "High performance full attitude control of a quadrotor on SO (3)." In 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1698-1703. IEEE, 2015. https://ieeexplore.ieee.org/abstract/document/7139416
Published in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
Vision based landing controller.
Recommended citation: Shuo, Yang, Jiahang Ying, Yang Lu, and Zexiang Li. "Precise quadrotor autonomous landing with SRUKF vision perception." In 2015 IEEE international conference on robotics and automation (ICRA), pp. 2196-2201. IEEE, 2015. https://ieeexplore.ieee.org/abstract/document/7139489