4 citations · 7 across the 7 of their papers we have counts for
6 papers · 1 filter
Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots
Qiayuan Liao, Zhefeng Cao, Hua Chen +1
This paper studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializatio…
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance
Hua Chen, Zejun Hong, Shunpeng Yang +2
This paper studies capturability and push recovery for quadrupedal locomotion. Despite the rich literature on capturability analysis and push recovery control for legged robots, ex…
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.…