Yi-min Ge
Papers
4
Total Citations
15
H-Index
3
About
Yi-min Ge is a robotics researcher whose work focuses on the control and gait planning of underactuated bipedal robots—machines designed to walk like humans despite having fewer actuators than degrees of freedom. Ge’s major contributions include developing a control strategy for smooth gait transitions in 3D bipedal robots, a critical step toward flexible, real-world walking. They also introduced a novel modification-based method for periodic gait planning that avoids the computational expense of traditional direct parameter optimization, enabling faster and more efficient motion design. Their work on hybrid control strategies for asymmetrically structured bipeds and COM trajectory planning based on CP-ZMP-COM dynamics further advances robot stability under external disturbances. Although citation counts are modest—ranging from 2 to 6—these papers represent foundational steps in a challenging subfield. Ge’s research is particularly notable for addressing both sagittal and coronal plane dynamics, offering a more holistic approach to bipedal locomotion. Their 2025 paper on disturbance-resistant control, published in Chinese, demonstrates ongoing efforts to bridge theoretical models with practical, resilient walking.
Research Focus
Key Achievements
Top Papers
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