Wei-Chun Lu — accepted AI-conference papers

2021

Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation

Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen, Wei-Chun Lu, Marco Hutter, Ram Vasudevan

ICRA 2021poster

Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current planning strategies either treat these forces as immutable during p…

Cited by 24 Source ↗Scholar ↗

2019

Dynamic Period-two Gait Generation in a Hexapod Robot based on the Fixed-point Motion of a Reduced-order Model

Wei-Chun Lu, Pei-Chun Lin

ICRA 2019poster

This research explored the generation of period-two dynamic running motion in a robot, based on the passive dynamic period-two motion of the reduced order, rolling spring-loaded inverted pendulum (R-SLIP) model. Each cycle of period-two motion consists of two stance phases separated by two flight ph…

Cited by 2 Source ↗Scholar ↗