9 citations · 22 across the 12 of their papers we have counts for
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cs.RO2021
Extended Capture Point and Optimization-based Control for Quadrupedal Robot Walking on Dynamic Rigid Surfaces
Amir Iqbal, Yan Gu
Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexit…
cs.RO2021★ 1 cited
Invariant Filtering for Bipedal Walking on Dynamic Rigid Surfaces with Orientation-based Measurement Model
Yuan Gao, Yan Gu
Real-world applications of bipedal robot walking require accurate, real-time state estimation. State estimation for locomotion over dynamic rigid surfaces (DRS), such as elevators,…
cs.RO2021
Global-Position Tracking Control of 3-D Bipedal Walking via Virtual Constraint Design and Multiple Lyapunov Analysis
Yan Gu, Yuan Gao, Bin Yao +1
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "…