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Energetic Analysis on the Optimal Bounding Gaits of Quadrupedal Robots
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits f…
Breaking Symmetries Leads to Diverse Quadrupedal Gaits
Jiayu Ding, Zhenyu Gan
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's m…
Navigation with Tactile Sensor for Natural Human-Robot Interaction
Zhen Hao Gan, Yangwei You, Meng Yee +1
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that in…
Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design
Jinsun Liu, Pengcheng Zhao, Zhenyu Gan +2
Online control design using a high-fidelity, full-order model for a bipedal robot can be challenging due to the size of the state space of the model. A commonly adopted solution to…