5 citations · 5 across the 2 of their papers we have counts for
2 papers
cs.RO2025
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…
cs.RO2024★ 5 cited
Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness
Wentao Zhang, Shaohang Xu, Peiyuan Cai +1
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capa…