2 citations · 4 across the 8 of their papers we have counts for
5 papers · 1 filter
Assistive Control of Knee Exoskeletons for Human Walking on Granular Terrains
Chunchu Zhu, Xunjie Chen, Jingang Yi
Human walkers traverse diverse environments and demonstrate different gait locomotion and energy cost on granular terrains compared to solid ground. We present a stiffness-based mo…
Contingency Model Predictive Control for Bipedal Locomotion on Moving Surfaces with a Linear Inverted Pendulum Model
Kuo Chen, Xinyan Huang, Xunjie Chen +1
Gait control of legged robotic walkers on dynamically moving surfaces (e.g., ships and vehicles) is challenging due to the limited balance control actuation and unknown surface mot…
Foot Shape-Dependent Resistive Force Model for Bipedal Walkers on Granular Terrains
Xunjie Chen, Aditya Anikode, Jingang Yi +1
Legged robots have demonstrated high efficiency and effectiveness in unstructured and dynamic environments. However, it is still challenging for legged robots to achieve rapid and…
A Reduced-Order Resistive Force Model for Robotic Foot-Mud Interactions
Xunjie Chen, Jingang Yi, Jerry Shan
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomo…
Biomechanical Comparison of Human Walking Locomotion on Solid Ground and Sand
Chunchu Zhu, Xunjie Chen, Jingang Yi
Current studies on human locomotion focus mainly on solid ground walking conditions. In this paper, we present a biomechanic comparison of human walking locomotion on solid ground…