4 papers · 1 filter
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…
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…
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…
Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots
Jing Cheng, Yasser G. Alqaham, Zhenyu Gan
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability.…