2 citations · 5 across the 7 of their papers we have counts for
7 papers
Contingency Model Predictive Control for Bipedal Locomotion on Moving Surfaces with a Linear Inverted Pendulum Model
Kuo Chen, Xinyan Huang, Xunjie Chen +1
Gait control of legged robotic walkers on dynamically moving surfaces (e.g., ships and vehicles) is challenging due to the limited balance control actuation and unknown surface mot…
Foot Shape-Dependent Resistive Force Model for Bipedal Walkers on Granular Terrains
Xunjie Chen, Aditya Anikode, Jingang Yi +1
Legged robots have demonstrated high efficiency and effectiveness in unstructured and dynamic environments. However, it is still challenging for legged robots to achieve rapid and…
A Reduced-Order Resistive Force Model for Robotic Foot-Mud Interactions
Xunjie Chen, Jingang Yi, Jerry Shan
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomo…
Socially Cognizant Robotics for a Technology Enhanced Society
Kristin J. Dana, Clinton Andrews, Kostas Bekris +6
Emerging applications of robotics, and concerns about their impact, require the research community to put human-centric objectives front-and-center. To meet this challenge, we advo…
Cascaded Nonlinear Control Design for Highly Underactuated Balance Robots
Feng Han, Jingang Yi
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To addr…
Gaussian Process-Enhanced, External and Internal Convertible (EIC) Form-Based Control of Underactuated Balance Robots
Feng Han, Jingang Yi
External and internal convertible (EIC) form-based motion control (i.e., EIC-based control) is one of the effective approaches for underactuated balance robots. By sequentially con…