22 citations · 23 across the 3 of their papers we have counts for
4 papers
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
Yuan Gao, Victor Paredes, Yukai Gong +3
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying hum…
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…
Toward Safety-Aware Informative Motion Planning for Legged Robots
Sangli Teng, Yukai Gong, Jessy W. Grizzle +1
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense st…
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Yukai Gong, Ross Hartley, Xingye Da +4
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This…