1 citations · 1 across the 3 of their papers we have counts for
3 papers
cs.RO2023★ 1 cited
Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model
Amir Iqbal, Sushant Veer, Yan Gu
This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and de…
cs.RO2022
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces
Amir Iqbal, Sushant Veer, Yan Gu
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, an…
cs.RO2021
Extended Capture Point and Optimization-based Control for Quadrupedal Robot Walking on Dynamic Rigid Surfaces
Amir Iqbal, Yan Gu
Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexit…