73 citations · 74 across the 7 of their papers we have counts for
7 papers
Structural Optimization of Lightweight Bipedal Robot via SERL
Yi Cheng, Chenxi Han, Yuheng Min +3
Designing a bipedal robot is a complex and challenging task, especially when dealing with a multitude of structural parameters. Traditional design methods often rely on human intui…
Agile and versatile bipedal robot tracking control through reinforcement learning
Jiayi Li, Linqi Ye, Yi Cheng +2
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is dec…
Quadruped robot traversing 3D complex environments with limited perception
Yi Cheng, Hang Liu, Guoping Pan +3
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to p…
From Knowing to Doing: Learning Diverse Motor Skills through Instruction Learning
Linqi Ye, Jiayi Li, Yi Cheng +3
Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement…
Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling
Shoujie Li, Mingshan He, Wenbo Ding +5
Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining th…
The Simplest Balance Controller for Dynamic Walking
Linqi Ye, Xueqian Wang, Houde Liu +1
Humans can balance very well during walking, even when perturbed. But it seems difficult to achieve robust walking for bipedal robots. Here we describe the simplest balance control…
Visual-tactile Fusion for Transparent Object Grasping in Complex Backgrounds
Shoujie Li, Haixin Yu, Wenbo Ding +5
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping un…