7 citations · 13 across the 10 of their papers we have counts for
11 papers · 1 filter
Closed-Form Cartesian Forward Kinetostatics for Spatial Multi-Segment Tendon-Driven Continuum Robots
Ke Wu, Fangju Yang, Xiaohui Zhang +4
Forward kinetostatics of spatial tendon-driven continuum robots typically requires a nonlinear equilibrium solve for each actuation input. This paper develops a force-to-Cartesian-…
Reduced Cartesian Kinetostatics for Tendon-Driven Continuum Robots: Residual-Stabilized Full-Shape Propagation
Ke Wu, Fangju Yang, Xiaohui Zhang +3
Many planning and control tasks for tendon-driven continuum robots (TDCRs) require the complete Cartesian backbone geometry. We present a reduced Cartesian framework for planar, ax…
A Foot Resistive Force Model for Legged Locomotion on Muddy Terrains
Xunjie Chen, Liuyin Wang, Xinyan Huang +3
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud int…
Bipedal-Walking-Dynamics Model on Granular Terrains
Xunjie Chen, Xinyan Huang, Peter Shan +2
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal…
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…
Exoskeleton-Assisted Balance and Task Evaluation During Quiet Stance and Kneeling in Construction
Gayatri Sreenivasan, Chunchu Zhu, Jingang Yi
Construction workers exert intense physical effort and experience serious safety and health risks in hazardous working environments. Quiet stance and kneeling are among the most co…
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…
Forward Kinematics of Object Transporting by a Multi-Robot System with a Deformable Sheet
Jiawei Hu, Wenhang Liu, Jingang Yi +1
We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole sy…
Energy Efficient Foot-Shape Design for Bipedal Walkers on Granular Terrain
Xunjie Chen, Jingang Yi, Hao Wang
It is important to understand how bipedal walkers balance and walk effectively on granular materials, such as sand and loose dirt, etc. This paper first presents a computational ap…