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Yukai Gong

Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces

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Sep 12, 2024
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Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface

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Oct 24, 2022
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Terrain-Aware Foot Placement for Bipedal Locomotion Combining Model Predictive Control, Virtual Constraints, and the ALIP

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Sep 30, 2021
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Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion

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May 17, 2021
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Toward Safety-Aware Informative Motion Planning for Legged Robots

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Mar 26, 2021
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Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller

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Aug 25, 2020
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Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped

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Mar 15, 2019
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Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

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Sep 19, 2018
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