He Li

Education

M.S. Missouri University of Science and Technology (2019)

B.S. Shandong University of Technology (2015)

Research

Numerical Methods for Optimal Control, Quadruped locomotion

Do you want someone to do your housework after a busy day? When you read morning news about an earthquake disaster, are you worried about the living status of the life-threatened people? Quadruped robots could provide an intelligent alternative to human beings for these applications due to the high mobility offered by their legs. My research is to design robust algorithms for quadruped robots to intelligently interact with complex environments, leveraging control theory, optimization, and machine learning. Towards this goal, I am currently focused on a structured model predictive control (MPC) technique for quadruped locomotion, as well as a Differential Dynamics Programming solver to efficiently solve the underlined trajectory optimization problem. The proposed method has comparable performance to whole-body MPC, but significantly reducing the computational cost.

Publications

Journal

• Li, H., Frei, R. J., Wensing, P. M. (2020). Model Hierarchy Predictive Control of Robotic Systems.IEEE Robotics and Automation Letters, 6(2), 3373-3380
• Li, H., Wensing, P. M. (2020). Hybrid systems differential dynamic programming for whole-body motion planning of legged robots. IEEE Robotics and Automation Letters, 5(4), 5448-5455

Conference

• Li, He, Yu, W., Zhang, T., & Wensing, P. M. "Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP." (accepted to ICRA 2023)
• Li, H., Yu, W., Zhang, T., & Wensing, P. M. Zero-shot retargeting of learned quadruped locomotion policies using hybrid kinodynamic model predictive control. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 11971-11977). IEEE.
• Kurtz, V., Li, H., Wensing, P. M., & Lin, H. (2022, May). Mini cheetah, the falling cat: A case study in machine learning and trajectory optimization for robot acrobatics. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 4635-4641). IEEE.

Life

Basketball, racquetball