Legged Locomotion

Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion
Data-driven control for improving the closed-loop control performance on legged robots
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Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion
Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
A decentralized framework for fast state estimation on legged robots.
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Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation
Pneumatic augmentation system for legged robots that stores and rapidly releases air pressure to enhance explosive hopping.
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Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control
Novel controller and hardware design for a terrestrial locomotor - PogoX.
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Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control