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He Li
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Hybrid systems differential dynamic programming for whole-body motion planning of legged robots
H Li, PM Wensing
IEEE Robotics and Automation Letters 5 (4), 5448-5455, 2020
702020
Model hierarchy predictive control of robotic systems
H Li, RJ Frei, PM Wensing
IEEE Robotics and Automation Letters 6 (2), 3373-3380, 2021
482021
Mini cheetah, the falling cat: A case study in machine learning and trajectory optimization for robot acrobatics
V Kurtz, H Li, PM Wensing, H Lin
2022 International Conference on Robotics and Automation (ICRA), 4635-4641, 2022
272022
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP
H Li, T Zhang, W Yu, PM Wensing
2023 International Conference on Robotics and Automation (ICRA), 2023
72023
Zero-shot retargeting of learned quadruped locomotion policies using hybrid kinodynamic model predictive control
H Li, T Zhang, W Yu, PM Wensing
2022 International Conference on Intelligent Robots and Systems (IROS), 2022
72022
A plant-inversion based switched iterative learning control scheme for a special class of multivariable systems
H Li, DA Bristow, RG Landers
Dynamic Systems and Control Conference 51890, V001T01A008, 2018
42018
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming
H Li, W Yu, T Zhang, PM Wensing
2023 International Conference on Intelligent Robots and Systems (IROS), 2023
32023
Robustness of a plant-inversion based switched iterative learning control scheme
H Li, DA Bristow, RG Landers
2019 American Control Conference (ACC), 2885-2890, 2019
22019
A switched estimation strategy based on Kalman filtering for compensating laser tracker ADM shift
H Li, DA Bristow, RG Landers
Precision Engineering 56, 395-403, 2019
22019
A switched iterative learning control scheme for two-input two-output systems
H Li, DA Bristow, RG Landers
2018 Annual American Control Conference (ACC), 5600-5605, 2018
22018
Modeling of absolute distance meter shift inside a laser tracker
H Li, RG Landers, DA Bristow
International Manufacturing Science and Engineering Conference 50749 …, 2017
22017
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control
H Li, PM Wensing
arXiv preprint arXiv:2403.03995, 2024
2024
Second-Order Differential Dynamic Programming for Whole-Body MPC of Legged Robots
JN NGANGA, H Li, P Wensing
Embracing Contacts-Workshop at ICRA 2023, 2023
2023
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