X. Xinjilefu

2 accepted papers

2016

A distributed MEMS gyro network for joint velocity estimation

X. Xinjilefu, Siyuan Feng, Christopher G. Atkeson

ICRA 2016

This paper is about improving joint and actuator velocity estimates on a human-sized hydraulic humanoid robot by adding a network of inexpensive microelectromechanical systems (MEMS) gyroscopes. Due to the lack of joint velocity sensors on the majority of humanoid robots, the joint velocity estimate

Cited by 19 Source ↗Scholar ↗

2016

Robust dynamic walking using online foot step optimization

Siyuan Feng, X Xinjilefu, Christopher G. Atkeson, Joohyung Kim

IROS 2016poster

To enable robust dynamic walking on the Atlas robot, we extend our previous work by adding a receding-horizon component. The new controller consists of three hierarchies: a center of mass (CoM) trajectory planner that follows a sequence of desired foot steps, a receding-horizon controller that optim…

Cited by 101 Source ↗Scholar ↗