425 citations · 1.8k across the 99 of their papers we have counts for
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State Estimation for Legged Robots Using Contact-Centric Leg Odometry
Shuo Yang, Hans Kumar, Zhaoyuan Gu +3
Our goal is to send legged robots into challenging, unstructured terrains that wheeled systems cannot traverse. Moreover, precise estimation of the robot's position and orientation…
Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller
Shuo Yang, Zhaoyuan Gu, Ruohai Ge +3
This paper reports the design and implementation of a three-link brachiation robot. The robot is able to travel along horizontal monkey bars using continuous arm swings. We build a…
Trajectory Generation for Millimeter Scale Ferromagnetic Swimmers: Theory and Experiments
Jaskaran Grover, Daniel Vedova, Nalini Jain +3
Microrobots have the potential to impact many areas such as microsurgery, micromanipulation and minimally invasive sensing. Due to their small size, microrobots swim in a regime th…