Je-Han Yang — accepted AI-conference papers

2022

Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing

Rachel Gehlhar, Je-Han Yang, Aaron D. Ames

RA-L 2022

Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent control methods that lack formal guarantees of stability and

Cited by 15 Source ↗Scholar ↗

2018

Self-Engaging Spined Gripper with Dynamic Penetration and Release for Steep Jumps

Jessica S. Lee, Mark Plecnik, Je-Han Yang, Ronald S. Fearing

ICRA 2018poster

Due to high impact forces and low duty cycles, monopedal jumping robots are particularly susceptible to failure from a slipping foot. Spines provide a solution to reduce slip, but there has been little research on how to effectively engage them into a surface with a dynamic jumping robot. Previous r…

Cited by 13 Source ↗Scholar ↗