17 citations · 19 across the 10 of their papers we have counts for
10 papers
Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
Xuanqi Zeng, Lingwei Zhang, Linzhu Yue +4
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge…
Whole-Body Control Framework for Humanoid Robots with Heavy Limbs: A Model-Based Approach
Tianlin Zhang, Linzhu Yue, Hongbo Zhang +4
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operati…
Learning to Hop for a Single-Legged Robot with Parallel Mechanism
Hongbo Zhang, Xiangyu Chu, Yanlin Chen +4
This work presents the application of reinforcement learning to improve the performance of a highly dynamic hopping system with a parallel mechanism. Unlike serial mechanisms, para…
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data
Hongbo Zhang, Zhongyu Li, Xuanqi Zeng +9
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while…
Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains
Linzhu Yue, Zhitao Song, Jinhu Dong +6
Natural terrain complexity often necessitates agile movements like jumping in animals to improve traversal efficiency. To enable similar capabilities in quadruped robots, complex r…
Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion
Xuanqi Zeng, Hongbo Zhang, Linzhu Yue +3
Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and th…
A Fast Online Omnidirectional Quadrupedal Jumping Framework Via Virtual-Model Control and Minimum Jerk Trajectory Generation
Linzhu Yue, Lingwei Zhang, Zhitao Song +4
Exploring the limits of quadruped robot agility, particularly in the context of rapid and real-time planning and execution of omnidirectional jump trajectories, presents significan…
Evolutionary-Based Online Motion Planning Framework for Quadruped Robot Jumping
Linzhu Yue, Zhitao Song, Hongbo Zhang +3
Offline evolutionary-based methodologies have supplied a successful motion planning framework for the quadrupedal jump. However, the time-consuming computation caused by massive po…
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
Gilbert Feng, Hongbo Zhang, Zhongyu Li +8
Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availa…
An Optimal Motion Planning Framework for Quadruped Jumping
Zhitao Song, Linzhu Yue, Guangli Sun +4
This paper presents an optimal motion planning framework to generate versatile energy-optimal quadrupedal jumping motions automatically (e.g., flips, spin). The jumping motions via…