4 citations · 8 across the 7 of their papers we have counts for
5 papers
Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots
Shunpeng Yang, Hua Chen, Zhen Fu +1
This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adj…
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum
Junwei Liu, Hua Chen, Patrick M. Wensing +1
Balancing is a fundamental need for legged robots due to their unstable floating-base nature. Balance control has been thoroughly studied for simple models such as the linear inver…
Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots
Hua Chen, Bingheng Wang, Zejun Hong +3
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierar…
Autonomous Social Distancing in Urban Environments using a Quadruped Robot
Tingxiang Fan, Zhiming Chen, Xuan Zhao +5
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19.…
Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model
Hua Chen, Patrick M. Wensing, Wei Zhang
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modu…