Papers
11
Total Citations
108
H-Index
5
About
Sai Gu is a leading researcher in the field of legged robotics, with a primary focus on the design, dynamic locomotion control, and human-robot interaction of quadruped robots. His major contributions include pioneering perception-less terrain adaptation for highly dynamic bounding and jumping, and developing robust stability control methods that enable quadruped robots to withstand external disturbances. Gu has also advanced human-robot cooperative motion, creating adaptive control systems that allow quadruped robots to carry unknown loads and follow human guidance for tasks like transporting goods. His work on geometric variational-based nonlinear model predictive control (NMPC) represents a significant theoretical leap, enabling robust, high-dynamic motion on complex terrain. With over 100 total citations, his most influential paper, "Design and Dynamic Locomotion Control of Quadruped Robot with Perception-Less Terrain Adaptation" (64 citations), is a cornerstone in the field. Gu’s research is notable for its practical application of Central Pattern Generators (CPGs) and impedance control for smooth gait transitions, and his recent work on perception-driven learning for single-legged jumping motions further expands the frontier of agile robotics.
Research Focus
Key Achievements
Top Papers
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- 2Stability Control of Quadruped Robot Based on Active State Adjustment11 citations · 2023
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- 4Adaptive Interactive Control of Human and Quadruped Robot Load Motion5 citations · 2024
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