1 citations · 2 across the 4 of their papers we have counts for
4 papers
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…
Foot Shape-Dependent Resistive Force Model for Bipedal Walkers on Granular Terrains
Xunjie Chen, Aditya Anikode, Jingang Yi +1
Legged robots have demonstrated high efficiency and effectiveness in unstructured and dynamic environments. However, it is still challenging for legged robots to achieve rapid and…
A Reduced-Order Resistive Force Model for Robotic Foot-Mud Interactions
Xunjie Chen, Jingang Yi, Jerry Shan
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomo…
Energy Efficient Foot-Shape Design for Bipedal Walkers on Granular Terrain
Xunjie Chen, Jingang Yi, Hao Wang
It is important to understand how bipedal walkers balance and walk effectively on granular materials, such as sand and loose dirt, etc. This paper first presents a computational ap…