Jeffrey Yu — accepted AI-conference papers

2020

ALPHRED: A Multi-Modal Operations Quadruped Robot for Package Delivery Applications

Joshua Hooks, Min Sung Ahn, Jeffrey Yu, Xiaoguang Zhang, Taoyuanmin Zhu, Hosik Chae +1

RA-L 2020

Modern quadruped robots are more capable than ever before at performing robust, dynamic locomotion over a variety of terrains, but are still mostly used as mobile inspection platforms. This paper presents ALPHRED version 2, a multi-modal operations quadruped robot designed for both locomotion and ma

Cited by 77 Source ↗Scholar ↗

2018

Energetic Efficiency of a Compositional Controller on a Monoped With an Articulated Leg and SLIP Dynamics

Jeffrey Yu, Dennis Hong, Matt Haberland

IROS 2018poster

Embedding the dynamics of the Spring Loaded Inverted Pendulum (SLIP) and applying a compositional controller around it can simplify dynamic legged robot locomotion control, but what is the energetic cost of this convenience? This paper measures the magnitude of this effect in such a way that the res…

Cited by 6 Source ↗Scholar ↗