Kaige Liu — accepted AI-conference papers

2025

Fault Joint Detection and Adaptive Fault-Tolerant Control of Legged Robots Under Joint Partial Failures

Kaige Liu, Zhixiang Wang, Bolin Li, Lijun Zhu, Han Ding

RA-L 2025

Legged robots employ multiple joint actuators that are susceptible to abrupt partial failures during prolonged operation. Joint failures take multiple forms. They are not limited to complete lockout failures, which are the main focus of existing literature. They also include partial torque tracking

Cited by 4 Source ↗Scholar ↗

2024

Optimization-Based Flocking Control and MPC-Based Gait Synchronization Control for Multiple Quadruped Robots

Kaige Liu, Lijing Dong, Xin Tan, Wentao Zhang, Lijun Zhu

RA-L 2024

In this letter, we focus on the flocking control and gait synchronization control of multiple quadruped robots to achieve the movement during patrol tasks. To achieve these goals, we propose an optimization-based distributed flocking controller and a model predictive control (MPC)-based gait synchro

Cited by 18 Source ↗Scholar ↗