2 papers
cs.RO2024
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…
cs.RO2020
Gaussian Processes Model-based Control of Underactuated Balance Robots
Kuo Chen, Jingang Yi, Dezhen Song
Ranging from cart-pole systems and autonomous bicycles to bipedal robots, control of these underactuated balance robots aims to achieve both external (actuated) subsystem trajector…