Yukai Gong

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Research Focus

Key Achievements

Top Papers

1. 1
   Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

   216 citations · 2019
2. 2
   Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion

   51 citations · 2022
3. 3
   One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller

   50 citations · 2021
4. 4
   Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints

   42 citations · 2022
5. 5
   Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller

   32 citations · 2020
6. 6
   Toward Safety-Aware Informative Motion Planning for Legged Robots

   22 citations · 2021
7. 7
   Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

   13 citations · 2018
8. 8
   Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface

   11 citations · 2023
9. 9
   Rapid Bipedal Gait Design Using C-FROST with Illustration on a Cassie-series Robot.

   9 citations · 2018
10. 10
    Terrain-Aware Foot Placement for Bipedal Locomotion Combining Model Predictive Control, Virtual Constraints, and the ALIP.

    5 citations · 2021

Key Collaborators