4 papers
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…