3 citations · 3 across the 4 of their papers we have counts for
4 papers
When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots
Ke Wang, Zhaoyang Jacopo Hu, Peter Tisnikar +3
Online footstep planning is essential for bipedal walking robots, allowing them to walk in the presence of disturbances and sensory noise. Most of the literature on the topic has f…
Fast Online Optimization for Terrain-Blind Bipedal Robot Walking with a Decoupled Actuated SLIP Model
Ke Wang, Hengyi Fei, Petar Kormushev
We present a highly reactive controller which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The high level motion planner doe…
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
Ke Wang, Guiyang Xin, Songyan Xin +3
To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by propo…
Asynchronous Real-Time Optimization of Footstep Placement and Timing in Bipedal Walking Robots
Digby Chappell, Ke Wang, Petar Kormushev
Online footstep planning is essential for bipedal walking robots to be able to walk in the presence of disturbances. Until recently this has been achieved by only optimizing the pl…