5 citations · 9 across the 6 of their papers we have counts for
6 papers
Refining Motion for Peak Performance: Identifying Optimal Gait Parameters for Energy-Efficient Quadrupedal Bounding
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, t…
Iteratively Learning Muscle Memory for Legged Robots to Master Adaptive and High Precision Locomotion
Jing Cheng, Yasser G. Alqaham, Zhenyu Gan +1
This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), a…
16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a…
Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots
Jing Cheng, Yasser G. Alqaham, Zhenyu Gan
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability.…
Energetic Analysis on the Optimal Bounding Gaits of Quadrupedal Robots
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits f…
Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots
Jing Cheng, Yasser G. Alqaham, Amit K. Sanyal +1
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A…