Jia-Ruei Chiu — accepted AI-conference papers

2025

Obstacle-Avoidant Leader Following with a Quadruped Robot

Carmen Scheidemann, Lennart Werner, Victor Reijgwart, Andrei Cramariuc, Joris Chomarat, Jia-Ruei Chiu +2

ICRA 2025

Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with daily tasks, or construction workers can have robots perform precision monitoring tasks on-site. However, manually stee

Cited by 12 Source ↗Scholar ↗

2022

A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation

Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter

ICRA 2022poster

In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme that solves a multi-contact optimal control problem. By penali…

Cited by 67 Source ↗Scholar ↗

2020

Development of a Running Hexapod Robot with Differentiated Front and Hind Leg Morphology and Functionality

Jia-Ruei Chiu, Yu-Chih Huang, Hui-Ching Chen, Kuan-Yu Tseng, Pei-Chun Lin

IROS 2020poster

This article introduces an innovative model-based strategy for designing a legged robot to generate animal-like running dynamics with differentiated leg braking and thrusting force patterns. Linear springs were utilized as legs, but instead of having one end of each spring connected directly to the…

Cited by 2 Source ↗Scholar ↗