5 papers
A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin +5
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting…
A Foot Resistive Force Model for Legged Locomotion on Muddy Terrains
Xunjie Chen, Liuyin Wang, Xinyan Huang +3
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud int…
Bipedal-Walking-Dynamics Model on Granular Terrains
Xunjie Chen, Xinyan Huang, Peter Shan +2
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal…
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…
Autonomous Bikebot Control for Crossing Obstacles with Assistive Leg Impulsive Actuation
Feng Han, Xinyan Huang, Zenghao Wang +2
As a single-track mobile platform, bikebot (i.e., bicycle-based robot) has attractive navigation capability to pass through narrow, off-road terrain with high-speed and high-energy…