9 citations · 22 across the 12 of their papers we have counts for
5 papers · 1 filter
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…
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces
Amir Iqbal, Sushant Veer, Yan Gu
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, an…
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces
Yuan Gao, Chengzhi Yuan, Yan Gu
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-…