1 citations · 1 across the 4 of their papers we have counts for
4 papers
FastStair: Learning to Run Up Stairs with Humanoid Robots
Yan Liu, Tao Yu, Haolin Song +7
Running up stairs is effortless for humans but remains extremely challenging for humanoid robots due to the simultaneous requirements of high agility and strict stability. Model-fr…
Noise Analysis and Hierarchical Adaptive Body State Estimator For Biped Robot Walking With ESVC Foot
Boyang Chen, Xizhe Zang, Chao Song +3
The ESVC(Ellipse-based Segmental Varying Curvature) foot, a robot foot design inspired by the rollover shape of the human foot, significantly enhances the energy efficiency of the…
Model Analysis And Design Of Ellipse Based Segmented Varying Curved Foot For Biped Robot Walking
Boyang Chen, Xizhe Zang, Chao Song +2
This paper presents the modeling, design, and experimental validation of an Ellipse-based Segmented Varying Curvature (ESVC) foot for bipedal robots. Inspired by the segmented curv…
Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control
Yapeng Shi, Sishu Li, Yongqiang Wu +4
This study presents an enhanced theoretical formulation for bipedal hierarchical control frameworks under uneven terrain conditions. Specifically, owing to the inherent limitations…