Provably stabilizing controllers for quadrupedal robot locomotion on dynamic rigid platforms A Iqbal, Y Gao, Y Gu IEEE/ASME Transactions on Mechatronics 25 (4), 2035-2044, 2020 | 36 | 2020 |
Exponential stabilization of fully actuated planar bipedal robotic walking with global position tracking capabilities Y Gu, B Yao, CS George Lee Journal of Dynamic Systems, Measurement, and Control 140 (5), 051008, 2018 | 35 | 2018 |
Feasible center of mass dynamic manipulability of humanoid robots Y Gu, B Yao, CSG Lee 2015 IEEE International Conference on Robotics and Automation (ICRA), 5082-5087, 2015 | 24 | 2015 |
Time-varying alip model and robust foot-placement control for underactuated bipedal robotic walking on a swaying rigid surface Y Gao, Y Gong, V Paredes, A Hereid, Y Gu 2023 American Control Conference (ACC), 3282-3287, 2023 | 18 | 2023 |
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces Y Gao, C Yuan, Y Gu IEEE/ASME Transactions on Mechatronics, 2022 | 18 | 2022 |
Hybrid Invariant Extended Kalman Filtering for Legged Locomotion on Dynamic Rigid Surfaces Y Gao, Y Gu | 17* | 2022 |
Global-position tracking control of multi-domain planar bipedal robotic walking Y Gao, Y Gu Dynamic Systems and Control Conference 59148, V001T03A009, 2019 | 17 | 2019 |
Global-position tracking control of a fully actuated nao bipedal walking robot Y Gao, Y Gu 2019 American Control Conference (ACC), 4596-4601, 2019 | 16 | 2019 |
Bipedal gait recharacterization and walking encoding generalization for stable dynamic walking Y Gu, B Yao, CSG Lee 2016 IEEE International Conference on Robotics and Automation (ICRA), 1788-1793, 2016 | 16 | 2016 |
Straight-line contouring control of fully actuated 3-D bipedal robotic walking Y Gu, B Yao, CSG Lee 2018 Annual American Control Conference (ACC), 2108-2113, 2018 | 14 | 2018 |
Switching model predictive control of switched linear systems with average dwell time C Yuan, Y Gu, W Zeng, P Stegagno 2020 American Control Conference (ACC), 2888-2893, 2020 | 13 | 2020 |
Time-dependent orbital stabilization of underactuated bipedal walking Y Gu, B Yao, CSG Lee 2017 American Control Conference (ACC), 4858-4863, 2017 | 13 | 2017 |
Extended capture point and optimization-based control for quadrupedal robot walking on dynamic rigid surfaces A Iqbal, Y Gu IFAC-PapersOnLine 54 (20), 72-77, 2021 | 12 | 2021 |
Modeling, analysis, and control of slip running on dynamic platforms A Iqbal, Z Mao, Y Gu ASME Letters in Dynamic Systems and Control 1 (2), 021007, 2021 | 11 | 2021 |
Asymptotic stabilization of aperiodic trajectories of a hybrid-linear inverted pendulum walking on a vertically moving surface A Iqbal, S Veer, Y Gu 2023 American Control Conference (ACC), 3030-3035, 2023 | 9 | 2023 |
DRS-LIP: Linear inverted pendulum model for legged locomotion on dynamic rigid surfaces A Iqbal, S Veer, Y Gu arXiv preprint arXiv:2202.00151, 2022 | 8 | 2022 |
Adaptive robust trajectory tracking control of fully actuated bipedal robotic walking Y Gu, C Yuan 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics …, 2020 | 7 | 2020 |
Impact-aware online motion planning for fully-actuated bipedal robot walking Y Gao, X Da, Y Gu 2020 American Control Conference (ACC), 2100-2105, 2020 | 7 | 2020 |
Global-position tracking control for three-dimensional bipedal robots via virtual constraint design and multiple lyapunov analysis Y Gu, Y Gao, B Yao, CSG Lee Journal of Dynamic Systems, Measurement, and Control 144 (11), 111001, 2022 | 5 | 2022 |
Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement Z Zhu, SMR Sorkhabadi, Y Gu, W Zhang American Control Conference, 2022 | 5 | 2022 |