5 papers
A Three-Level Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
Bolin Li, Gewei Zuo, Zhixiang Wang +3
This paper presents a control framework designed to enhance the stability and robustness of legged robots in the presence of uncertainties, including model uncertainties, external…
A Gait Driven Reinforcement Learning Framework for Humanoid Robots
Bolin Li, Yuzhi Jiang, Linwei Sun +3
This paper presents a real-time gait driven training framework for humanoid robots. First, we introduce a novel gait planner that incorporates dynamics to design the desired joint…
MonoSLAM: Robust Monocular SLAM with Global Structure Optimization
Bingzheng Jiang, Jiayuan Wang, Han Ding +1
This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To…
Disturbance Estimation of Legged Robots: Predefined Convergence via Dynamic Gains
Bolin Li, Peiyuan Cai, Gewei Zuo +2
In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages…
A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
Bolin Li, Wentao Zhang, Xuecong Huang +2
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance…