Linhai Gui

2 accepted papers

2022

An Optimal Motion Planning Framework for Quadruped Jumping

Zhitao Song, Linzhu Yue, Guangli Sun, Yihu Ling, Hongshuo Wei, Linhai Gui +1

IROS 2022poster

This paper presents an optimal motion planning framework to generate versatile energy-optimal quadrupedal jumping motions automatically (e.g., flips, spin). The jumping motions via the centroidal dynamics are formulated as a 12-dimensional black-box optimization problem subject to the robot kino-dyn…

Cited by 23 Source ↗Scholar ↗

2019

Global Vision-Based Impedance Control for Robotic Wall Polishing

Yang Zhou, Xiang Li, Linzhu Yue, Linhai Gui, Guangli Sun, Xin Jiang +1

IROS 2019poster

Wall polishing is a typical and essential procedure in the interior renovation. However, such works are mainly carried out by humans, which have the disadvantages of low efficiency, inconsistent quality, and issues of safety and health. A new vision-based impedance controller is proposed for polishi…

Cited by 18 Source ↗Scholar ↗