3 papers
cs.RO2024
Whole-Body Impedance Coordinative Control of Wheel-Legged Robot on Uncertain Terrain
Lei Shi, Xinghua Yu, Cheng Zhou +6
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upp…
cs.RO2024
Uncovering the Secrets of Human-Like Movement: A Fresh Perspective on Motion Planning
Lei Shi, Qichao Liu, Cheng Zhou +4
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the persp…
cs.RO2024
A Fairness-Oriented Control Framework for Safety-Critical Multi-Robot Systems: Alternative Authority Control
Lei Shi, Qichao Liu, Cheng Zhou +1
This paper proposes a fair control framework for multi-robot systems, which integrates the newly introduced Alternative Authority Control (AAC) and Flexible Control Barrier Functio…