9 citations · 22 across the 12 of their papers we have counts for
12 papers
Provably Stabilizing Global-Position Tracking Control for Hybrid Models of Multi-Domain Bipedal Walking via Multiple Lyapunov Analysis
Yuan Gao, Kentaro Barhydt, Christopher Niezrecki +1
Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding…
Modeling of Interface Loads for EOD Suit Wearers
Yuan Gao, Stephanie Epstein, Murat Inalpolat +2
Explosive Ordnance Disposal (EOD) suits are widely used to protect human operators to execute emergency tasks such as bomb disposal and neutralization. Current suit designs still n…
Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model
Amir Iqbal, Sushant Veer, Yan Gu
This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and de…
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface
Yuan Gao, Yukai Gong, Victor Paredes +2
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvest…
Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement
Zenan Zhu, Seyed Mostafa Rezayat Sorkhabadi, Yan Gu +1
This paper introduces a new invariant extended Kalman filter design that produces real-time state estimates and rapid error convergence for the estimation of the human body movemen…
Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation with Sensor Misalignment
Zenan Zhu, Seyed Mostafa Rezayat Sorkhabadi, Yan Gu +1
Understanding human motion is of critical importance for health monitoring and control of assistive robots, yet many human kinematic variables cannot be directly or accurately meas…