3 papers
cs.RO2025
Energy-Efficient Omnidirectional Locomotion for Wheeled Quadrupeds via Predictive Energy-Aware Nominal Gait Selection
Xu Yang, Wei Yang, Kaibo He +3
Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In th…
cs.RO2024
DynSyn: Dynamical Synergistic Representation for Efficient Learning and Control in Overactuated Embodied Systems
Kaibo He, Chenhui Zuo, Chengtian Ma +1
Learning an effective policy to control high-dimensional, overactuated systems is a significant challenge for deep reinforcement learning algorithms. Such control scenarios are oft…
cs.AI2024
Self Model for Embodied Intelligence: Modeling Full-Body Human Musculoskeletal System and Locomotion Control with Hierarchical Low-Dimensional Representation
Chenhui Zuo, Kaibo He, Jing Shao +1
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interact…