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SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments

Oct 23, 2020
Zhigen Zhao, Ziyi Zhou, Michael Park, Ye Zhao

* 9 pages, 11 figures, submitted to IEEE Robotics and Automation Letters 

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Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics

Apr 21, 2020
Lasitha Wijayarathne, Qie Sima, Ziyi Zhou, Ye Zhao, Frank L. Hammond III

* 7 pages, Submitted to IROS 2020 (under review) 

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Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics

Mar 18, 2020
Ziyi Zhou, Ye Zhao

* American Control Conference (ACC), 2020 

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Flexoskeleton printing for versatile insect-inspired robots

Nov 28, 2019
Mingsong Jiang, Ziyi Zhou, Nicholas G. Gravish

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