1 citations · 1 across the 3 of their papers we have counts for
2 papers
cs.RO2025★ 1 cited
Contact Sensing via Joint Torque Sensors and a Force/Torque Sensor for Legged Robots
Jared Grinberg, Yanran Ding
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a…
cs.RO2025
Kinodynamic Model Predictive Control for Energy Efficient Locomotion of Legged Robots with Parallel Elasticity
Yulun Zhuang, Yichen Wang, Yanran Ding
In this paper, we introduce a kinodynamic model predictive control (MPC) framework that exploits unidirectional parallel springs (UPS) to improve the energy efficiency of dynamic l…