Haoyun Yan

2 accepted papers

2024

Locomotion Control on Human-Centaur System With Spherical Joint Interaction

Haoyun Yan, Jianquan Li, Haifeng Liu, Zhixin Tu, Ping Yang, Muye Pang +2

RA-L 2024

This paper presents a locomotion controller for a novel human-augmented legged robot, the Centaur robot, which is primarily developed to extend the human's ability to carry load. For such a human-robot walking system, there are requirements for the robot to maintain a balanced posture, provide a pro

Cited by 4 Source ↗Scholar ↗

2022

A Centaur System for Assisting Human Walking with Load Carriage

Ping Yang, Haoyun Yan, Bowen Yang, Jianquan Li, Kailin Li, Yuquan Leng +1

IROS 2022poster

Walking with load is a common task in daily life and disaster rescue. Long-term load carriage may cause irreversible damage to the human body. Although remarkable progress has been made in the field of wearable robots, it is still far from avoiding interference to human legs, which will lead to ener…

Cited by 8 Source ↗Scholar ↗