activity
20202024
most citedUnderactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots

4 citations · 4 across the 3 of their papers we have counts for

collaborators
Showing 2024Show all

1 paper · 1 filter

cs.RO2024

Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion

Shunpeng Yang, Zejun Hong, Sen Li +3

This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism f…