Chaohui Gong — accepted AI-conference papers

2019

A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots

Baxi Zhong, Yasemin Ozkan-Aydin, Guillaume Sartoretti, Jennifer Rieser, Chaohui Gong, Haosen Xing +2

RSS 2019poster

Motion planning for mobile robots with many degrees-of-freedom (DoF) is challenging due to their high-dimensional configuration spaces. To manage this curse of dimensionality, this paper proposes a new hierarchical framework that decomposes the system into sub-systems (based on shared capabilities o…

Cited by 23 Source ↗PDF ↗Scholar ↗

2018

Coordination of back bending and leg movements for quadrupedal locomotion

Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer Rieser +7

RSS 2018poster

Many quadrupedal animals have lateral degrees of freedom in their backs that assist locomotion. This paper seeks to use a robotic model to demonstrate that back bending assists not only forward motion, but also lateral and turning motions. This paper uses geometric mechanics to prescribe gaits that…

Cited by 40 Source ↗PDF ↗Scholar ↗

2017

Deformed state lattice planning

Zhongqiang Ren, Chaohui Gong, Howie Choset

IROS 2017poster

Search-based planning that uses a state lattice has been successfully applied in many applications but its utility is limited when confronted with complex problems represented by a lattice with many nodes and edges with high branching factor. However, in many seemingly complex problems, proper “form…

Cited by 5 Source ↗Scholar ↗

2016

Geometric Swimming on a Granular Surface

Jin Dai, Hossein Faraji, Chaohui Gong, Ross L. Hatton, Daniel I. Goldman, Howie Choset

RSS 2016poster

Snake robots can contact their environments along their whole bodies. This distributed contact makes them versatile and robust locomotors, but also makes controlling them a chal- lenging problem involving high-dimensional configuration spaces, with no direct way to break their motion down into âdr…

Cited by 51 Source ↗PDF ↗Scholar ↗

2016

Simplifying Gait Design via Shape Basis Optimization

Chaohui Gong, Daniel I. Goldman, Howie Choset

RSS 2016poster

Gaits are crucial to the performance of locomotors. However, it is often difficult to design effective gaits for complex locomotors. Geometric mechanics offers powerful gait design tools, but the utilities of these tools have been limited to systems with two joints. Using shape basis functions, it i…

Cited by 31 Source ↗PDF ↗Scholar ↗

2015

Limbless locomotors that turn in place

Chaohui Gong, Matthew Travers, Henry C. Astley, Daniel I. Goldman, Howie Choset

ICRA 2015poster

Our research group has started a collaboration that analyzes data collected from biological snakes to provide insight on how to better program snake robots. Most data collected on biological snakes views the snakes from above and thus can only detect motion in the horizontal plane. However, both our…

Cited by 16 Source ↗Scholar ↗

2015

Locomotive reduction for snake robots

Xuesu Xiao, Ellen Cappo, Weikun Zhen, Jin Dai, Ke Sun, Chaohui Gong +2

ICRA 2015poster

Limbless locomotion, evidenced by both biological and robotic snakes, capitalizes on these systems' redundant degrees of freedom to negotiate complicated environments. While the versatility of locomotion methods provided by a snake-like form is of great advantage, the difficulties in both representi…

Cited by 41 Source ↗Scholar ↗

2015

Modeling rolling gaits of a snake robot

Weikun Zhen, Chaohui Gong, Howie Choset

ICRA 2015poster

Successful deployment of a snake robot in search and rescue tasks requires the capability of generating controls which can adapt to unknown environments in real-time. However, available motion generation techniques can be computationally expensive and lack the ability to adapt to the surroundings. T…

Cited by 66 Source ↗Scholar ↗

2015

Robot-inspired biology: The compound-wave control template

Jin Dai, Matthew Travers, Tony Dear, Chaohui Gong, Henry C. Astley, Daniel I Goldman +1

ICRA 2015poster

Biologically inspired robots perform many interesting and useful behaviors, but to effectively emulate their biological counterparts, robots often need to possess many degrees of freedom, complicating their mechanical design and making it difficult to apply standard control and motion planning strat…

Cited by 11 Source ↗Scholar ↗