Thesis
Optimization-based control and planning for highly dynamic legged locomotion in complex environments
Yanran Ding (PDF)
Journal Publications
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
Yanran Ding, Abhishek Pandala, Chuanzheng Li, Youngha Shin, and Hae-Won Park
Transactions on Robotics (T-RO) (preprint, Video, Code)
This paper received the 2020 Technical Committee (TC) Best Paper Award Finalist on Model-Based Optimization for Robotics Best Paper Award
Centroidal-momentum-based trajectory generation for legged locomotion
Chuanzheng Li, Yanran Ding , and Hae-Won Park
Mechatronics (doi)
Conference Publications
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking
Yanran Ding, Charles Khazoom, Matthew Chignoli and Sangbae Kim
IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2022
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Charles Khazoom, Daniel Gonzalez-Diaz, Yanran Ding, Sangbae Kim
IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2022
HOPPY: An open-source and low-cost kit for dynamic robotics education
Joao Ramos, Yanran Ding, Young-woo Sim, Kevin Murphy, and Daniel Block
International Conference on Intelligent Robots and Systems (IROS) 2021
Design and Experimental Implementation of a Quasi-Direct-Drive Leg for Optimized Jumping
Yanran Ding and Hae-Won Park
International Conference on Intelligent Robots and Systems (IROS) 2017, (doi, PDF, Video)
This paper was awarded at IROS 2017 as Best Student Paper Finalist
Patent
A Linkage Mechanism for Quadrotor Power Cable Cruise
Hesheng Wang, Weidong Chen, Yanran Ding, Xian Zhang, Yangtian Li, Rui Zhang, Yichen Zhang
National Intellectual Property Administration of PRC, Google Patent
Invited Talks
"Optimization-Based Control and Planning for Highly Dynamic Legged Robots"
Robotics Seminar in School for Engineering of Matter, Transport and Energy, ASU, Jan. 2023
“Legged Robot Control using Convex Optimization”
2.740 Bio-Inspired Robotics Guest Lecture, MIT, Nov. 2022
"Dynamic Walking with Footstep Adaptation on the MIT Humanoid via Linear MPC"
ICRA Legged Robot Workshop, Philadelphia, PA, May 2022
“Optimization-based Control and Planning for Highly Dynamic Legged Locomotion”
Virtual Seminar in the Movement Lab (Prof. Karen Liu), Stanford University, Stanford, CA, 2021.
“Planning and Control of Legged Robots in Challenging Terrains”
Virtual Seminar in Robotics, Optimization, and Assistive Mobility (ROAM) Lab (Prof. Patrick Wensing), University of Notre Dame, Notre Dame, IN, 2020.
“Design and Control of a Quadruped Robot Panther for Highly Dynamic Motions”
RoboGrads Fall 2020 Student Virtual Seminar, Georgia Tech., Atlanta, GA, 2020.
“Design and Control of a Quadruped Robot for Dynamic Motions”
Robotics Seminar Series, Illinois Robotics Group, UIUC, Urbana, IL, 2019.
“Design, Planning and Control of a Highly Dynamic Quadrupedal Robot”
Coordinated Science Laboratory Student Conference, University of Illinois at Urbana-Champaign, Urbana, IL, 2019.
Open-Source Software
RF-MPC, A MATLAB-based Model Predictive Control Package for Dynamic Quadrupedal Locomotion
URL: https://github.com/YanranDing/RF-MPC
qpSWIFT, A Light-weight sparse Quadratic Programming Solver
Poster Sessions
Design and Experimental Implementation of a Quasi-Direct-Drive Leg for Optimized Jumping
2018 Midwest Robotics Workshop, Toyota Technological Institute at Chicago