Yao Su

Yao Su
Beijing Institute for General Artificial Intelligence

Doctor of Philosophy
I am now a research scientist at Beijing Institute for General Artificial Intelligence (BIGAI).

About

45
Publications
10,111
Reads
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406
Citations
Additional affiliations
February 2019 - March 2021
DMAI
Position
  • Engineer
Education
September 2016 - June 2021
University of California, Los Angeles
Field of study
  • Mechanical Engineering
September 2012 - June 2016
Harbin Institute of Technology
Field of study
  • Mechanical Engineering

Publications

Publications (45)
Preprint
Full-text available
This paper presents the development of a Physics-realistic and Photo-\underline{r}ealistic humanoid robot testbed, PR2, to facilitate collaborative research between Embodied Artificial Intelligence (Embodied AI) and robotics. PR2 offers high-quality scene rendering and robot dynamic simulation, enabling (i) the creation of diverse scenes using vari...
Conference Paper
The dynamic Sequential Mobile Manipulation Plan- ning (SMMP) framework is essential for the safe and robust oper- ation of mobile manipulators in dynamic environments. Previous research has primarily focused on either motion-level or task- level dynamic planning, with limitations in handling state changes that have long-term effects or in generatin...
Conference Paper
Full-text available
Visual planning simulates how humans make decisions to achieve desired goals in the form of searching for visual causal transitions between an initial visual state and a final visual goal state. It has become increasingly important in egocentric vision with its advantages in guiding agents to perform daily tasks in complex environments. In this pap...
Conference Paper
Full-text available
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However , current VBTS designs, typically confined to the fingertips of robotic grippers, prove somewhat inadequate, as many grasping and manipulation tasks require multiple contact po...
Preprint
Full-text available
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of robotic grippers, prove somewhat inadequate, as many grasping and manipulation tasks require multiple contact poi...
Preprint
Full-text available
This paper presents a Genetic Algorithm (GA) designed to reconfigure a large group of modular Unmanned Aerial Vehicles (UAVs), each with different weights and inertia parameters, into an over-actuated flight structure with improved dynamic properties. Previous research efforts either utilized expert knowledge to design flight structures for a speci...
Article
Full-text available
Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to these tasks often simplify dynamics to enhance computational efficiency, potentially overlooking critical factors such as the control of centroidal angular momentum (CAM...
Preprint
Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to these tasks often simplify dynamics to enhance computational efficiency, potentially overlooking critical factors such as the control of centroidal angular momentum (CAM...
Conference Paper
Full-text available
Existing motion planning approaches for over- actuated unmanned aerial vehicle (UAV) platforms can achieve online planning without considering dynamics. However, in many envisioned application areas such as aerial manipulation, payload delivery, and moving target tracking, it is critical to ensure dynamic consistency in the generated trajectory. Th...
Conference Paper
Full-text available
Artificial intelligence (AI) has revolutionized human cognitive abilities and facilitated the development of new AI entities capable of interacting with humans in both physical and virtual environments. Despite the existence of virtual reality, mixed reality, and augmented reality for several years, integrating these technical fields remains a form...
Conference Paper
Full-text available
Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on keeping the target within the limited field of view of an onboard sensor and avoiding obstacle occlusion. How...
Article
Full-text available
Auto-focusing technology in ultrafast laser processing, especially for non-planar structures, holds paramount importance. The existing methodologies predominantly rely on optical mechanisms, thereby being limited by the original system and material reflectivity. This work proposes an approach that utilizes laser-induced sound as a feedback signal f...
Preprint
Full-text available
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is shaped as a regular icositetragon with a permanent magnet installed on each corner for stable docking. After aggreg...
Article
Full-text available
The performance of over-actuated Unmanned Aerial Vehicles (UAVs) is significantly influenced by aerodynamic effects, as they are subject to different airflow conditions. For those aerodynamic effects that are difficult to model but could occur repeatedly, Iterative Learning Control (ILC) has great potential to improve the system performance by lear...
Conference Paper
Full-text available
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is shaped as a regular icositetragon with a permanent magnet installed on each corner for stable docking. After aggreg...
Article
Full-text available
GelSight sensors that estimate contact geometry and force by reconstructing the deformation of their soft elastomer from images would yield poor force measurements when the elastomer deforms uniformly or reaches deformation saturation. Here we present an L $^{3}$ F-TOUCH sensor that considerably enhances the three-axis force sensing capability of...
Conference Paper
Full-text available
We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior UAM work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of the floating base, the manipulator, and the object being manipulated, entailing a unified kinematics and dynamics mo...
Preprint
Full-text available
We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior UAM work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of the floating base, the manipulator, and the object being manipulated, entailing a unified kinematics and dynamics mo...
Article
Full-text available
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to un- deractuation, over-actuated platforms can continue flying with appropriate fault-tolerant control (FTC). This paper presents a robust FTC controller for an over-actuated UAV platfo...
Preprint
Full-text available
Target tracking with a mobile robot has numerous significant applications in both civilian and military. Practical challenges such as limited field-of-view, obstacle occlusion, and system uncertainty may all adversely affect tracking performance, yet few existing works can simultaneously tackle these limitations. To bridge the gap, we introduce the...
Preprint
Full-text available
Propeller failure is one major reason for the falling and crashing of multirotor Unmanned Aerial Vehicles (UAVs). While conventional multirotors can barely handle this issue due to underactuation, over-actuated platforms can still pursue the flight with proper fault-tolerant control (FTC). This paper investigates such a controller for one such over...
Article
This paper presents the control and experiments of a novel multirotor aerial platform, which is capable of full actuation for six Degree of Freedom (DoF) motions. The platform is actuated by a number of tilting-thrust modules, each consisting of a regular quadcopter and a mechanically passive hinge. The platform in this paper has four such actuator...
Preprint
Full-text available
This paper presents the control and experiment of a novel multirotor aerial platform, which is capable of full actuation for six Degree of Freedom (DoF) motions. The platform is actuated by a number of tilting-thrust modules, each consisting of a regular quadcopter and a mechanically passive hinge. The platform in this paper has four such actuator...
Conference Paper
Full-text available
Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing unde- sired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexi...
Preprint
Full-text available
Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexity...
Article
Full-text available
We devise a cooperative planning framework to generate optimal trajectories for a robot duo tethered by a flexible net to gather scattered objects spread in a large area. Specifically, the proposed planning framework first produces a set of dense waypoints for each robot, serving as the initialization for optimization. Next, we formulate an iterati...
Article
Full-text available
Overactuated multirotor unmanned aerial vehicles (UAVs) usually consist of multiple tiltable thrust actuators. The controllers are mostly designed by regarding the thrust forces and actuator tilting angles as inputs of outer-loop position and attitude controllers, while formulating an inner-loop controller for each actuator to track the thrust and...
Preprint
Full-text available
We devise a cooperative planning framework to generate optimal trajectories for a tethered robot duo, who is tasked to gather scattered objects spread in a large area using a flexible net. Specifically, the proposed planning framework first produces a set of dense waypoints for each robot, serving as the initialization for optimization. Next, we fo...
Preprint
Full-text available
Overactuated multirotor unmanned aerial vehicles (UAVs) usually consist of multiple tiltable thrust actuators. The controllers are mostly designed by regarding the thrust forces and actuator tilting angles as inputs of outer-loop position and attitude controllers, while formulating an inner-loop controller for each actuator to track the thrust and...
Article
Full-text available
Multirotor copters with full six Degree of Free-dom(DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition(FD), which provides a robust least-square solution and is easy to imp...
Preprint
Full-text available
Conventional multirotors have coupling between position and attitude control due to underactuation in dynamics, and thus can not track six degree-of-freedom (DoF) trajectories in space. Previous works proposed fully actuated multirotors with modifications to mechanical structure to provide varying orientations of thrust forces without changing the...
Preprint
Full-text available
Multirotor copters with full six Degree of Freedom (DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition (FD), which provides a robust least-square solution and is easy to im...
Article
Full-text available
Fully-actuated multi-rotor aerial platforms are receiving increasing research interests for the capability of six degree-of-freedom (DOF) motions such as hovering at non-horizontal attitude angles. Existing real world hardware and experiments have demonstrated such capability for a limited range of angles. This paper presents an aerial platform tha...
Thesis
Full-text available
Multirotor copters with full six DoF maneuvering are often overactuated with redundancy. By having redundant actuation, the multirotors can have better fault-tolerance, energy-efficiency, and payload carrying capability. And they can have an infinite number of solutions when doing control allocation due to their redundancy. However, how to take ful...
Article
Full-text available
Overhead manipulation often needs collaboration of two operators, which is challenging in confined space such as in a compartment or on a ladder. Supernumerary Robotic Limb (SuperLimb), as a promising wearable robotics solution for overhead tasks, can provide optimal assistance in terms of broader workspace, diverse manipulation functionalities, an...
Article
Robust Bipedal Locomotion Based on a Hierarchical Control Structure – CORRIGENDUM - Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu
Article
Full-text available
To improve biped locomotion's robustness to internal and external disturbances, this study proposes a hierarchical structure with three control levels. At the high level, a foothold sequence is generated so that the Center of Mass (CoM) trajectory tracks a planned path. The planning procedure is simplified by selecting the midpoint between two cons...

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