140 citations · 171 across the 8 of their papers we have counts for
5 papers · 1 filter
Ensemble diverse hypotheses and knowledge distillation for unsupervised cross-subject adaptation
Kuangen Zhang, Jiahong Chen, Jing Wang +4
Recognizing human locomotion intent and activities is important for controlling the wearable robots while walking in complex environments. However, human-robot interface signals ar…
Dynamic Modeling and Simulation of a Four-wheel Skid-Steer Mobile Robot using Linear Graphs
Eric McCormick, Haoxiang Lang, Clarence W. de Silva
This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobile robotic system. An LG r…
How does the structure embedded in learning policy affect learning quadruped locomotion?
Kuangen Zhang, Jongwoo Lee, Zhimin Hou +3
Reinforcement learning (RL) is a popular data-driven method that has demonstrated great success in robotics. Previous works usually focus on learning an end-to-end (direct) policy…
Teach Biped Robots to Walk via Gait Principles and Reinforcement Learning with Adversarial Critics
Kuangen Zhang, Zhimin Hou, Clarence W. de Silva +2
Controlling a biped robot to walk stably is a challenging task considering its nonlinearity and hybrid dynamics. Reinforcement learning can address these issues by directly mapping…
Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking: A Survey
Kuangen Zhang, Clarence W. de Silva, Chenglong Fu
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the hum…