Visual information is indispensable to human locomotion in complex environments.
Although amputees can perceive the environmental information by eyes, they cannot …

In this letter we present a multi-rate control architecture for safety critical systems. We
consider a high level planner and a low level controller which operate at different …

In this paper, aimed at the problem of control accuracy when the traditional position-based
impedance control is applied in the hydraulic drive unit (HDU) of legged robot, a kind of …

Quadruped robots manifest great potential to traverse rough terrains with payload. Current
model-based controllers, which are extensively adopted in quadruped robot locomotion …

Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant
challenges in terms of actuation, motion planning, and control. Traditional approaches to …

This paper focused on three application problems of the traditional Deep Deterministic
Policy Gradient (DDPG) algorithm. That is, the agent exploration is insufficient, the neural …

Low-friction ground conditions present a navigation challenge for bipedal robotic
locomotion. While robots might traverse slippery surfaces by carefully planning trajectories …

Objective: Measuring three-dimensional (3-D) foot trajectories with foot-worn inertial
measurement units (IMUs) is essential for a variety of applications, such as gait analysis and …

Biped robots with dynamic motion control have shown strong robustness in complex
environments. However, many motion planning methods rely on models, which have …

Estimation of center of mass (CoM) and center of pressure (CoP) is critical for lower limb
exoskeletons, prostheses, and legged robots. To meet the demand in these fields, this study …