Fulong Yin — accepted AI-conference papers

2025

Reduced-Dimensional Whole-Body Control Based on Model Simplification for Bipedal Robots With Parallel Mechanisms

Yunpeng Liang, Fulong Yin, Zhen Li, Zhilin Xiong, Zhihui Peng, Yanzheng Zhao +1

RA-L 2025

The presence of parallel mechanisms in bipedal robots increases the complexity of modeling and control, making it crucial to manage the trade-off between model accuracy and real-time control. In this letter, we propose a reduced-dimensional whole-body controller for series-parallel bipedal robots, u

Cited by 7 Source ↗Scholar ↗

2021

Run Like a Dog: Learning Based Whole-Body Control Framework for Quadruped Gait Style Transfer

Fulong Yin, Annan Tang, Liangwei Xu, Yue Cao, Yu Zheng, Zhengyou Zhang +1

IROS 2021poster

In this paper, a learning-based whole-body loco-motion controller is proposed, which enables quadruped robots to perform running in the style of real animals. We use a low-level controller based on multi-rigid body dynamics to calculate desired torques for each joint, while the high-level neural net…

Cited by 8 Source ↗Scholar ↗