2 citations · 2 across the 2 of their papers we have counts for
5 papers
PEPA: a Persistently Autonomous Embodied Agent with Personalities
Kaige Liu, Yang Li, Lijun Zhu +1
Living organisms exhibit persistent autonomy through internally generated goals and self-sustaining behavioral organization, yet current embodied agents remain driven by externally…
Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot
Wentao Zhang, Shaohang Xu, Gewei Zuo +3
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the…
A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
Bolin Li, Wentao Zhang, Xuecong Huang +2
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance…
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…
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…