Publications
Manuscripts In Preprint
[M5] X. Guo, B. Blaise, J. Molnar, J. Coholich, S. Padte, Y. Zhao, and F. Hammond. Soft Foot Sensor Design and Terrain Classification for Dynamic Legged Locomotion, IEEE International Conference on Soft Robotics (RoboSoft), 2020. [preprint] [video]
[M4] J. Luo, Y. Zhao, L. Ruan, S. Mao, and C. Fu. Estimation of CoM and CoP Position During Human Walking Based on a Wearable Visual Odometry Device. IEEE Transactions on Automation Science and Engineering, Under Review, 2019.
[M3] S. Kulgod*, J. Huang*, W. Chen*, Y. Zhao, and N. Atanasov. Temporal Logic Guided Locomotion Planning and Control in Cluttered Environments, (first three authors are equally contributed), American Control Conference, 2020.
[M2] Z. Zhou, and Y. Zhao. Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics, American Control Conference, 2020. [preprint]
[M1] Y. Zhao, Y. Li, L. Sentis, U. Topcu, and J. Liu. Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments. International Journal of Robotics Research, Conditionally Accepted, 2020. [preprint] [video]
Journals
[J12] Y. Zhao, and Y. Gu. An Integrated Non-periodic Planning and Exponential Stabilization Framework of Dynamic Legged Locomotion. (equally contributed authors) International Journal of Intelligent Robotics and Applications. In Press, 4(1), 95-108, 2020.
[J11] Minghao Han, Ruixian Zhang, Lixian Zhang, Ye Zhao, and Wei Pan. Asynchronous Observer Design for Switched Linear Systems: A Tube-Based Approach. IEEE/CAA Journal of Automatica Sinica, 7.1: 70-81, 2020. [link]
[J10] J. Luo, Y. Su, L. Ruan, Y. Zhao, D. Kim, L. Sentis, and C. Fu. Robust Control of Bipedal Locomotion Based on a Hierarchical Framework. Robotica, 37(10), 1750-1767. [link]
[J9] Ye Zhao, Benito Fernandez and Luis Sentis. Robust Optimal Planning and Control of Non-Periodic Bipedal Walking With A Centroidal Momentum Model. The International Journal of Robotics Research. 36(11): 1211-1243. September, 2017. [video] [link] [code] [database]
[J8] Ye Zhao, Nicholas Paine, Steven Jorgensen, and Luis Sentis. Impedance Control and Performance Measure of Series Elastic Actuators. IEEE Transactions on Industrial Electronics. 2018, 65(3), 2817-2827. [video] [code] [link]
[J7] Jianwen Luo, Shuguo Wang, Ye Zhao, and Yili Fu. Variable Stiffness Control of Series Elastic Actuated Biped Locomotion. Intelligent Service Robotics. 2018, 11(3), 225-235. [link]
[J6] Donghyun Kim, Ye Zhao, Gray Thomas, Benito Fernandez and Luis Sentis. Stabilizing Series-Elastic Point-Foot Bipeds using Whole-Body Operational Space Control. IEEE Transactions on Robotics. 2016, 32(6), 1362-1379. [video] [ArXiv] [Best WBC paper award finalist, Best WBC video award finalist (voting-based)]
[J5] Ye Zhao, Nicholas Paine, Kwan Suk Kim and Luis Sentis. Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers. IEEE Transactions on Industrial Electronics. 2015, 62(11), 7151-7162. [video1] [video2] [ArXiv]
[J4] Weichao Sun, Ye Zhao, Jinfu Li and Huijun Gao. Active Suspension Control with Frequency Band Constraints and Actuator Input Delay. IEEE Transactions on Industrial Electronics. 2012, 59(1): 530-537. [Journal Impact Factor: 6.5] [Thomson Reuters "Highly Cited Paper", top 1% citation in Engineering Category]
[J3] Ye Zhao, Lixian Zhang, Shen Shen and Huijun Gao. Robust Stability Criterion for Discrete-time Uncertain Markovian Jumping Neural Networks with Defective Statistics of Modes Transitions. IEEE Transactions on Neural Networks. 2011, 22(1): 164-170.
[J2] Weichao Sun, Jinfu Li, Ye Zhao and Huijun Gao. Vibration Control for Active Seat Suspension Systems via Dynamic Output Feedback with Limited Frequency Characteristic. Mechatronics. 2011, 21(1): 250-260.
[J1] Lixian Zhang, Naigang Cui, Ming Liu, and Ye Zhao. Asynchronous Filtering of Discrete-Time Switched Linear Systems with Average Dwell Time. IEEE Transactions on Circuits and Systems I: Regular Papers. 2011, 58(5): 1109-1118. [Thomson Reuters "Highly Cited Paper", top 1% citation in Engineering Category]
Journals in Preparation
[JP2] Y. Zhao, S. Kuindersma. Biased Maximum Likelihood Trajectory Optimization for Stochastic Rigid Body Systems, In Preparation [Draft available upon request].
[JP1] Passivity and Optimal Control for Whole-Body Operational Space Control with Series Elastic Actuation and Distributed Delays. In Preparation for IEEE Transactions on Automatic Control, 2018. [Draft available upon request].
Book Chapter
Y. Zhao and L. Sentis. Distributed Impedance Control of Latency-Prone Robotic Systems with Series Elastic Actuation. Book Chapter, Stability, Control and Application of Time-delay Systems, Elsevier, In Press, 2019.
Referred Conference Proceedings
[RCP11] Jianwen Luo, Ye Zhao, Donghyun Kim, Oussama Khatib, and Luis Sentis. Locomotion Control of Three Dimensional Passive-Foot Biped Robot Based on Whole Body Operational Space Framework. IEEE International Conference on Robotics and Biomimetics, December, 2017.
[RCP10] Ye Zhao, Jonathan Matthis, Sean L. Barton, Mary Hayhoe and Luis Sentis. Towards Understanding Visually Guided Locomotion over Complex and Rough Terrain: A Phase-Space Planning Method. IEEE International Workshop on Advanced Robotics and its Social Impacts, March, 2017. (First three authors equally contributed)
[RCP9] Ye Zhao and Luis Sentis. Passivity of Time-Delayed Whole-Body Operational Space Control with Series Elastic Actuation. IEEE-RAS Conference on Humanoid Robots (Humanoids), 2016. [Supplementary Material]
[RCP8] Ye Zhao, Ufuk Topcu and Luis Sentis. High-Level Planner Synthesis for Whole-Body Locomotion in Unstructured Environments. IEEE Conference on Decision and Control (CDC), 2016. [video] [Supplementary Material]
[RCP7] Ye Zhao, Benito Fernandez and Luis Sentis. Robust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies. Proceedings of Robotics: Science and Systems (RSS), 2016. [video] [slides] [Acceptance Rate: 20.6%]
[RCP6] Ye Zhao, Donghyun Kim, Gray Thomas and Luis Sentis. Hybrid Multi-Contact Dynamics for Wedge Jumping Locomotion Behaviors. International Conference on Hybrid Systems: Computation and Control (HSCC), 2015.
[RCP5] Ye Zhao, Nicholas Paine and Luis Sentis. Feedback Parameter Selection for Impedance Control of Series Elastic Actuators. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014.
[RCP4] Ye Zhao, Nicholas Paine and Luis Sentis. Sensitivity Comparison To Loop Latencies Between Damping Versus Stiffness Feedback Control Action In Distributed Controllers. ASME 2014 Dynamic Systems and Control Conference (DSCC), 2014.
[RCP3] Donghyun Kim, Ye Zhao, Gray Thomas and Luis Sentis. Empirical Modifications To a Phase Space Planner Which Compensate For Low Stiffness Actuation in a Planar, Point-Foot, Biped Robot. ASME 2014 Dynamic Systems and Control Conference (DSCC), 2014.
[RCP2] Ye Zhao, Donghyun Kim, Benito Fernandez and Luis Sentis. Phase Space Planning and Robust Control for Data-Driven Locomotion Behaviors. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2013.
[RCP1] Ye Zhao, Luis Sentis. A Three Dimensional Foot Placement Planner for Locomotion in Very Rough Terrains. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2012.
Conference Abstracts, Workshops and Other Proceedings
[CP10] Thendral Govindaraj, Ye Zhao, T. Richard Nichols, and Greg Sawicki. Optimizing Joint Impedances to Quickly Reject An Endpoint Force Perturbation In A Cat Hindlimb. Congress of the International Society of Biomechanics and Annual Meeting of the American Society of Biomechanics. 2019.
[CP9] Ye Zhao, Ufuk Topcu and Luis Sentis. Reactive Task Planner Synthesis of Dynamic Multi-Contact Locomotion in Constrained Environments. RSS 2016 Workshop on Task and Motion Planning, Ann Arbor, Michigan.
[CP8] Ye Zhao, Ufuk Topcu and Luis Sentis. Towards Formal Planner Synthesis for Unified Legged and Armed Locomotion in Constrained Environments. Proceedings of Dynamic Walking, Oral Presentation. 2016.
[CP7] Ye Zhao, Jonathan Matthis, Sean L. Barton, Mary Hayhoe and Luis Sentis. Exploring Visually Guided Locomotion over Rough Terrain: A Phase Space Planning Method. Proceedings of Dynamic Walking. 2016.
[CP6] Ye Zhao and Luis Sentis. Robust Optimal Control and High-Level Planner Synthesis for Locomotion over Various Terrain Topologies. 2016 ICRA Workshop on Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions.
[CP5] Donghyun Kim, Ye Zhao, Gray Thomas and Luis Sentis. Whole-Body Operational Space Control: Undirectional Walking of a Point-Foot Series Elastic Biped. Proceedings of Dynamic Walking, Oral Presentation. 2015.
[CP4] Donghyun Kim, Ye Zhao, Gray Thomas and Luis Sentis. Towards Agility in Compliant Point-Foot Bipeds. Proceedings of Dynamic Walking, 2014.
[CP3] Huijun Gao, Jia You, Peng Shi, Lixian Zhang and Ye Zhao. Stabilization of Continuous-Time Markov Jump Linear Systems with Defective Statistics of Modes Transitions. Proceedings of the IFAC 18th world congress, Milano, Italy, 2011.
[CP2] Lixian Zhang, Yu Leng, Lingjie Chen, and Ye Zhao. A BRL for A Class of Discrete-time Markov Jump Linear System with Piecewise-Constant TPs. Proceedings of the IFAC 18th world congress, Milano, Italy, 2011.
[CP1] Ye Zhao and Lixian Zhang. On Stability of Markovian Jumping Neural Networks with both unknown and uncertain transition probabilities. International conference on Computational Intelligence and Vehicular System, Cheju, Korea, 2010, pp. 125-128.
Thesis
[T3] Ye Zhao. A Planning and Control Framework of Humanoid Systems: Robust, Optimal, and Real-time Performance. Ph.D. Dissertation, The University of Texas at Austin, December 2016.
[T2] Ye Zhao. Phase Space Planning for Robust Locomotion. Master Thesis, The University of Texas at Austin, August 2013.
[T1] Ye Zhao. Robust Stability for Uncertain Markovian Jumping Neural Networks with Defective Statistics of Modes Transitions. Bachelor Thesis, Harbin Institute of Technology, July 2011. Honor Undergraduate Thesis Award.
Poster
[P2] Ye Zhao, Ufuk Topcu, Luis Sentis. High-Level Planner Synthesis for Unified Legged and Armed Locomotion in Cluttered Dynamic Environments, Graduate and Industry Networking, 2016, The University of Texas at Austin.
[P1] Ye Zhao, Nicholas Paine, Kwan Suk Kim, Luis Sentis. Stability and Performance Limits of Latency-Prone Hierarchical Distributed Controllers for Robotic Systems, Graduate and Industry Networking, 2015, The University of Texas at Austin.