Publications

You can also find my articles on my Google Scholar profile.

(*equally contributed)

Preprints

Shiyu Feng, Ziyi Zhou, Justin S. Smith, Max Asselmeier, Ye Zhao, and Patricio A. Vela. “GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation”, IEEE International Conference on Robotics and Automation (ICRA). 2023, accepted. [pdf]
Lasitha Wijayarathne*, Ziyi Zhou*, Ye Zhao, and Frank L. Hammond III. “Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation”, IEEE Transactions on Robotics, accepted. [pdf] [code]

Ziyi Zhou*, Bruce Wingo*, Nathan Boyd, Seth Hutchinson, and Ye Zhao. “Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion” (with IROS option), IEEE Robotics and Automation Letters, 7(3), 7755-7762, 2022. [pdf]
Zhigen Zhao*, Ziyi Zhou*, Michael Park, and Ye Zhao. “SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments”, IEEE Access, vol. 8, pp. 12817-12826, 2021. [pdf] [code]
Hongwu Zhu, Dong Wang, Nathan Boyd, Ziyi Zhou, Lecheng Ruan, Aidong Zhang, Ning Ding, Ye Zhao, and Jianwen Luo. “Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation”. Frontiers in Robotics and AI, vol. 8, pp. 288-299, 2021. [pdf]

Ziyi Zhou, Dong Jae Lee, Yuki Yoshinaga, Dejun Guo, and Ye Zhao. “Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robots”, accepted to IEEE International Conference on Automation Science and Engineering (CASE), 2022. [pdf] [code]
Ziyi Zhou, and Ye Zhao. “Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics”, American Control Conference (ACC), 2020. [pdf]
Lasitha Wijayarathne, Qie Sima, Ziyi Zhou, Ye Zhao, and Frank L. Hammond III. “Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics”. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. [pdf]

Ziyi Zhou, Bruce Wingo, Nathan Boyd, Seth Hutchinson, and Ye Zhao. “Momentum-Aware Planning Synthesis for Dynamic Legged Locomotion”. Proceedings of Dynamic Walking, 2021. [pdf] [poster]