Jiyu Yu — accepted AI-conference papers

2024

A Fast Motion and Foothold Planning Framework for Legged Robots on Discrete Terrain

Jiyu Yu, Dongqi Wang, Zhenghan Chen, Ci Chen, Shuangpeng Wu, Yue Wang +1

IROS 2024poster

Legged robot proved their capability to cross complex terrain in recent research, yet the autonomy of robots on discrete terrain still needs to be enhanced since it requires a full stack framework. This paper introduces a real-time motion and foothold planning framework tailored for legged robots na…

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2024

VIVO: A Visual-Inertial-Velocity Odometry with Online Calibration in Challenging Condition

Fuzhang Han, Shenhan Jia, Jiyu Yu, Yufei Wei, Wenjun Huang, Yue Wang +1

IROS 2024poster

State estimation is a central component of autonomous navigation. To date, many methods presented have a disruptive potential for application, such as visual-inertial odometry (VIO), wheel and leg odometry (for short, body odometry). However, most of them are prone to fail in some challenging condit…

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