Chun-Kai Huang — accepted AI-conference papers

2016

Model-based bounding on a quadruped robot

Chun-Kai Huang, Chung-Li Chen, Chia-Jui Hu, Pei-Chun Lin

ICRA 2016

We report on the development of a robot's dynamic bounding locomotion based on a sagittal plane model that fits the robot's natural dynamics. The proposed model, referred to as the Two-rolling-leg (TRL) model, is a low degree-of-freedom planar rigid-body model with two rolling and compliant legs. Th

Cited by 7 Source ↗Scholar ↗

2015

A torque-actuated dissipative spring loaded inverted pendulum model with rolling contact and its use as the template for design and dynamic behavior generation on a hexapod robot

Chia-Jui Hu, Chun-Kai Huang, Pei-Chun Lin

ICRA 2015poster

We report on a model-based approach for robot design and its dynamic motion generation. A new torque-actuated dissipative spring loaded inverted pendulum model with rolling contact (TDR-SLIP) is proposed to serve as the motion template for the robot. It is a successor to a previously developed sprin…

Cited by 15 Source ↗Scholar ↗