3 papers
cs.RO2025
Explosive Output to Enhance Jumping Ability: A Variable Reduction Ratio Design Paradigm for Humanoid Robots Knee Joint
Xiaoshuai Ma, Haoxiang Qi, Qingqing Li +5
Enhancing the explosive power output of the knee joints is critical for improving the agility and obstacle-crossing capabilities of humanoid robots. However, a mismatch between the…
cs.RO2025
A 3-Step Optimization Framework with Hybrid Models for a Humanoid Robot's Jump Motion
Haoxiang Qi, Zhangguo Yu, Xuechao Chen +5
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to ac…
cs.RO2024
LIKO: LiDAR, Inertial, and Kinematic Odometry for Bipedal Robots
Qingrui Zhao, Mingyuan Li, Yongliang Shi +8
High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estim…