Zhixin Tu

2 accepted papers

2024

Locomotion Control on Human-Centaur System With Spherical Joint Interaction

Haoyun Yan, Jianquan Li, Haifeng Liu, Zhixin Tu, Ping Yang, Muye Pang +2

RA-L 2024

This paper presents a locomotion controller for a novel human-augmented legged robot, the Centaur robot, which is primarily developed to extend the human's ability to carry load. For such a human-robot walking system, there are requirements for the robot to maintain a balanced posture, provide a pro

Cited by 4 Source ↗Scholar ↗

2023

Task-Based Human-Robot Collaboration Control of Supernumerary Robotic Limbs for Overhead Tasks

Zhixin Tu, Yijun Fang, Yuquan Leng, Chenglong Fu

RA-L 2023

Supernumerary robotic limbs (SRLs) are novel wearable robots that can be used to augment human operating ability in completing some difficult and complex tasks. In this work, a task-based human-SRLs collaboration control method for overhead tasks is developed. It is autonomous and safe without the n

Cited by 13 Source ↗Scholar ↗