2 papers
cs.RO2026
Proprioceptive Force Estimation for Quadruped Locomotion and Human-Robot Interaction
Run Wang, Xu Yang, Alapati Tuerxun +1
Payload forces must be accommodated during locomotion, while leash forces can specify desired motion. We investigate whether a shared three-dimensional force estimate in newtons, i…
cs.RO2025
Energy-Efficient Omnidirectional Locomotion for Wheeled Quadrupeds via Predictive Energy-Aware Nominal Gait Selection
Xu Yang, Wei Yang, Kaibo He +3
Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In th…