Ganyu Deng — accepted AI-conference papers

2020

Optimized Foothold Planning and Posture Searching for Energy-Efficient Quadruped Locomotion over Challenging Terrains

Lu Chen, Shusheng Ye, Caiming Sun, Aidong Zhang, Ganyu Deng, Tianjiao Liao

ICRA 2020poster

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…

Cited by 14 Source ↗Scholar ↗

2019

Joint Torque Estimation toward Dynamic and Compliant Control for Gear-Driven Torque Sensorless Quadruped Robot

Bingchen Jin, Caiming Sun, Aidong Zhang, Ning Ding, Jing Lin, Ganyu Deng +2

IROS 2019poster

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…

Cited by 29 Source ↗Scholar ↗