Jinyu Cheng — accepted AI-conference papers

2024

Spined Torso Renders Advanced Mobility for Quadrupedal Locomotion

Jichao Wang, Jinyu Cheng, Jiangtao Hu, Wei Gao, Shiwu Zhang

ICRA 2024poster

Animals possessing spinal columns often exhibit exceptional agility for highly dynamic locomotion. The spine grants the trunk with increased degrees of freedom, thereby endowing diverse postures. This paper presents the development of a robot STRAY for quadrupedal locomotion, featuring a four-degree…

Cited by 2 Source ↗Scholar ↗

2024

Torque Ripple Reduction in Quasi-Direct Drive Motors Through Angle-Based Repetitive Learning Observer and Model Predictive Torque Controller

Hefei Zhang, Xiaohu Zhang, Jinyu Cheng, Jiangtao Hu, Chao Ji, Yu Wang +4

IROS 2024poster

Torque ripple reduction in quasi-direct drive (QDD) motors is crucial in their robotic applications for dynamic locomotion and dexterous manipulation. In this paper, we present a novel approach for reducing torque ripples of QDD motors, which integrates an angle-based repetitive learning observer (A…

Cited by 0 Source ↗Scholar ↗