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Yanran Ding
Registrace 27. 11. 2015
This channel is a platform for showcasing my work on Robotics, both academic research and personal hobby.
My homepage is at: sites.google.com/view/yanranding/home
My homepage is at: sites.google.com/view/yanranding/home
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
zhlédnutí: 1 103
Video
Orientation-Aware Model Predictive Control with Footstep Adaptationfor Dynamic Humanoid Walking
zhlédnutí 910Před rokem
Paper Link: arxiv.org/pdf/2205.15443.pdf
![ICRA21 [presentation]: Hybrid Sampling/Optimization-based Planning](http://i.ytimg.com/vi/RYGGNOGgIjI/mqdefault.jpg)
ICRA21 [presentation]: Hybrid Sampling/Optimization-based Planning
zhlédnutí 388Před 3 lety
Presentation for our ICRA21 paper: Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrains Paper: motion.cs.illinois.edu/papers/ICRA2021_Ding_AgileJumping.pdf
Yanran's Ph.D. Final Defense (2021-03-19)
zhlédnutí 945Před 3 lety
Title: Optimization-based Control and Planning for Highly Dynamic Legged Locomotion Content of this video 00:00 - Intro 06:18 - Robot Design 08:31 - Representation-Free Model Predictive Control (RF-MPC) 19:10 - Mixed-Integer Convex Program (MICP) for trajectory optimization (TO) 26:53 - Hybrid Planning 35:48 - Conclusion 38:27 - Acknowledgement Committee: Prof. Hae-Won Park Prof. Joao Ramos Pro...
ICRA21: Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrains
zhlédnutí 790Před 3 lety
ICRA21: Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrains
T-RO Representation-Free Model Predictive Control (RF-MPC) on Quadruped Panther
zhlédnutí 4,3KPřed 3 lety
Quadruped Panther could achieve various dynamic motions using the RF-MPC. Code and preprint are available. Publisher Version: ieeexplore.ieee.org/document/9321699 Code: github.com/YanranDing/RF-MPC Preprint: arxiv.org/abs/2012.10002
![IROS20 [presentation]: Kinodynamic Motion Planning for Multi-Legged Robot](http://i.ytimg.com/vi/8D_dIgH_T50/mqdefault.jpg)
IROS20 [presentation]: Kinodynamic Motion Planning for Multi-Legged Robot
zhlédnutí 1,2KPřed 3 lety
IROS20 [presentation]: Kinodynamic Motion Planning for Multi-Legged Robot
IROS20: Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program
zhlédnutí 1,2KPřed 4 lety
paper: arxiv.org/abs/2011.01809
RA-L19: qpSWIFT, A Real-Time Sparse Quadratic Program (QP) Solver
zhlédnutí 973Před 4 lety
Title: qpSWIFT : A Real-time Sparse Quadratic Program Solver for Robotic Applications Authors: Abhishek Pandala, Yanran Ding, and Hae-Won Park
ICRA19: MPC on the quadruped robot Panther
zhlédnutí 32KPřed 5 lety
Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots Yanran Ding, Abhishek Pandala, Hae-Won Park paper link: ieeexplore.ieee.org/abstract/document/8793669 Leg design: czcams.com/video/C3D1MQBOAKs/video.html
IROS18: Single Leg Parkour Motion
zhlédnutí 1,8KPřed 5 lety
Single Leg Dynamic Motion Planning with Mixed-Integer Convex Optimization Yanran Ding, Chuanzheng Li and Hae-Won Park link: ieeexplore.ieee.org/abstract/document/8594161
IROS17: Design and Implementation of a Dynamic Robot Leg
zhlédnutí 2,6KPřed 6 lety
This video features a robotic leg designed by Yanran Ding in UIUC. Paper link: ieeexplore.ieee.org/abstract/document/8202172 Full Robot
Why is it crunchy 😭
I need calculation part
Give code
What motor you use?
What brushless motor you use?
could you please open a course to introduce your papaer about rf-mpc ,thanks a lot ,too many formulas in the paper about linearlization about eular equation
Good day or good afternoon. Very interesting. I would like to learn. You give virtual classes. I would like to learn. If so, could you provide me with more information? Thank you 
Wow!! Did you make the actuator yourself!?!?!? awesom!!!
Incredible work!
Hi,I sent u email,I like to build this jumping robot
Genial! 👏🏼👏🏼👏🏼
Add a public comment...
3:30 - 3:45 best robot dog scene :) (great project)
Amazing!!!
Thank you!
Thanks for sharing👍
Thank you for your support!
@@YanranDing Hi, so your quadruped robot's name is Panther? cool👍
Thank you for sharing this video! It is amazing work!
Thank you!
Amazing job! Congrats!
Thanks!
good job, bro.
Thanks!
Touched my heart ❤️🥺
Thank you!
great job!
Thanks!
Love this video! It’s really mesmerizing to see the robot progress in nice clips. What are you guys’ next plans for Panther?
Thank you! Unfortunately, the panther project is temporarily suspended.
and does it start from any arbitrary starting posture?
Yes, the robot can start from any starting posture as long as four feet are in contact with the ground.
@@YanranDing cool.
This looks really great. I am wondering how long did you take to finish the whole project? Did you build everything from scratch? That is very interesting.
The leg design, manufacturing and experiment took about two grad school years. My labmates and I built most of it from scratch, with the exception of the motor coil and sensors.
Congratulations! Your work is awesome, Yanran.
Thank you for your kind words, Daniel
Congratulations🎉 when you showed hardware failure that was so cool❤️
You made this robot all by yourself??
This is a collaborative work within a research lab at UIUC
@@YanranDing its awesome dude Just a query if I am currently 18 years old if I study really hard can I make those robots by myself??
@@shrijansahu4285 Yes, of course! I started to learn about robotics when I was 23.
@@YanranDing thanks so much🤩🤩
good job, bro :)))
Nice :))
Why didn't you track orientation with quaternions to fix the backflip (45 deg) gimbal lock issue?
We made the decision to use the rotation matrix instead of quaternion because (a) quaternion has the unwinding issue (b) the difficulty appears to be similar either way
Is the actuator made by yourself? The design of the quad looks very geek.
Thanks. The actuators are made in house.
@@YanranDingThanks for your replying, I've seen it on your paper. That's an excellent work!
Wow, nice quad!
Thanks!
amazing work, i am also working on quadruped robot project. I will be glad if you check my work too. Regards.
Exelente! Subtítulos en español por favor!
Was the industrial design of this quadruped robot done by u guys?So Impressive! I think the appearance design is also important.
Yes
Great!
hi, i see that you use Matlab to simulate the robot, but How do you solve the collision detection problem? Thank you !
And how do you calculate the reaction force?
@@liangxiao1879 The Matlab simulation is not that realistic, the collision is declared when the foot kinematically penetrates the ground.
Really nice ! What motors do you use?
We used Parker motor coil and custom made gearbox
@@YanranDing just amazing 👏🏽
@@jordieenmanuelcruzcabrera644 Thank you!
Want Your codes. Please
What degree is that?
It's amazing!
have you give up??
No sir, I have not yet
too big too eavy
Is this eventually open source? Would be great to be able to 3d print it and group think to make it more animal like. :)
Can you Please explain How MPC algorithum is doing the Job in this case ?
Yanran King..
Are you guys presenting this at ICRA this year? I submitted a request on research gate. I would love to read your paper! Thanks.
The paper is available at: ieeexplore.ieee.org/abstract/document/8793669
Nice job ^_^ , Can you send me a paper which includes the hardware and the sofware architecture ,This is my email kasem.kj.n@gmail.com with my respect
Could you please send the paper to my email elenhuo@gmail.com ？Thanks！
Very good job!
Thank you very much!
Is there any paper about the hardware and software architecture? Is the hardware developed in house or bought from Unitree robotics (Laikago)
The paper has been sent to you via ResearchGate. The hardware is developed in our lab.