17 citations · 69 across the 26 of their papers we have counts for
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cs.RO2015★ 2 cited
A Framework for Planning and Controlling Non-Periodic Bipedal Locomotion
Ye Zhao, Benito R. Fernandez, Luis Sentis
This study presents a theoretical framework for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic apex states. Based on the prismat…
cs.RO2015★ 7 cited
Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking
Donghyun Kim, Ye Zhao, Gray Thomas +1
In this paper we present advancements in control and trajectory generation for agile behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control (WBOSC), d…
eess.SY2015★ 2 cited
Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers
Ye Zhao, Nicholas Paine, Kwan Suk Kim +1
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human…