4 accepted papers
This paper presents an integrated methodology and experimental validation of an autonomous framework for unmanned underwater vehicles (UUVs) merely equipped with a conventional monocular camera and a pressure sensor to accomplish high-performance autonomy. Optimal pose of the UUV is solved iterative…
With the gradual maturity of the software and hardware of quadruped robots, the application scenarios of quadruped robots are increasing, such as security, rescue, exploration and other tasks. Quadruped robots are flexible and adaptive to challenging or complex environment. This study presents a lar…
Energy-efficient locomotion is of primary importance for legged robot to extend operation time in practical applications. This paper presents an approach to achieve energy-efficient locomotion for a quadrupedal robot walking over challenging terrains. Firstly, we optimize the nominal stance paramete…
This paper investigates dynamic and compliant control based on joint output torque estimation for electrically actuated quadruped robots with large-reduction-ratio harmonic gear. Compared with position control, force control exhibits better performance of dynamics and compliance for the robot's inte…