Rongqian Chen — accepted AI-conference papers

2025

Tunable Leg Stiffness in a Monopedal Hopper for Energy-Efficient Vertical Hopping Across Varying Ground Profiles

Rongqian Chen, Jun Kwon, Kefan Wu, Wei-Hsi Chen

ICRA 2025

We present the design and implementation of HASTA (Hopper with Adjustable Stiffness for Terrain Adaption), a vertical hopping robot with real-time tunable leg stiffness, aimed at optimizing energy efficiency across various ground profiles (a pair of ground stiffness and damping conditions). By adjus

Cited by 3 Source ↗Scholar ↗

2023

Design and Control of a Tunable-Stiffness Coiled-Spring Actuator

Shivangi Misra, Mason Mitchell, Rongqian Chen, Cynthia Sung

ICRA 2023poster

We propose a novel design for a lightweight and compact tunable stiffness actuator capable of stiffness changes up to 20x. The design is based on the concept of a coiled spring, where changes in the number of layers in the spring change the bulk stiffness in a near linear fashion. We present an elas…

Cited by 5 Source ↗Scholar ↗