1 citations · 4 across the 9 of their papers we have counts for
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cs.RO2023
Provably Stabilizing Global-Position Tracking Control for Hybrid Models of Multi-Domain Bipedal Walking via Multiple Lyapunov Analysis
Yuan Gao, Kentaro Barhydt, Christopher Niezrecki +1
Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding…
cs.RO2023★ 1 cited
Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model
Amir Iqbal, Sushant Veer, Yan Gu
This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and de…
cs.RO2022★ 1 cited
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces
Yuan Gao, Chengzhi Yuan, Yan Gu
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-…