Samuel Cheong — accepted AI-conference papers

2021

State Estimation for Hybrid Wheeled-Legged Robots Performing Mobile Manipulation Tasks

Yangwei You, Samuel Cheong, Tai Pang Chen, Yuda Chen, Kun Zhang, Cihan Acar +3

ICRA 2021poster

This paper introduces a general state estimation framework fusing multiple sensor information for hybrid wheeled-legged robots performing mobile manipulation tasks. At the core of the state estimator is a novel unified odometry for hybrid locomotion which can seamlessly maintain tracking and has no…

Cited by 12 Source ↗Scholar ↗

2021

Supervised Autonomy for Remote Teleoperation of Hybrid Wheel-Legged Mobile Manipulator Robots

Samuel Cheong, Tai Pang Chen, Cihan Acar, Yangwei You, Yuda Chen, Wan Leong Sim +1

IROS 2021poster

This paper proposes an improved supervised autonomy framework for remote teleoperation of a quadrupedal bimanual mobile manipulator in an unknown environment, with the usage of advanced perception technology and allowing the operator to easily assist the robot with decision making for executing task…

Cited by 6 Source ↗Scholar ↗