3 papers
cs.RO2026
Iteratively Learning Muscle Memory for Legged Robots to Master Adaptive and High Precision Locomotion
Jing Cheng, Yasser G. Alqaham, Zhenyu Gan +1
This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), a…
cs.RO2025
16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a…
cs.RO2025
Refining Motion for Peak Performance: Identifying Optimal Gait Parameters for Energy-Efficient Quadrupedal Bounding
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, t…