2022
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Y. Gao, C. Yuan, Y. Gu, "Invariant Filtering for Legged Humanoid Locomotion on a Dynamic Rigid Surface," IEEE/ASME Transactions on Mechatronics, accepted, accepted. [video]
Y. Gu, Y. Gao, B. Yao, C. S. George Lee, “Global-Position Tracking Control of 3-D Bipedal Walking via Virtual Constraint Design and Multiple Lyapunov Analysis," ASME Journal of Dynamic Systems, Measurements, and Control, accepted. [video]
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2021
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Y. Gao, Y. Gu, "Hybrid Invariant Extended Kalman Filtering for Bipedal Robot Walking on Dynamic Rigid Surfaces," in Proc. of Modeling, Estimation, and Control Conference, 2021
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2020
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Y. Gao, X. Da, Y. Gu, "Impact-Aware Online Motion Planning for Fully-Actuated Bipedal Robotic Walking," submitted to American Control Conference (ACC), 2020
A. Iqbal, Y. Gao, Y. Gu, "Provably Stabilizing Controllers for Quadrupedal Robot Walking on Dynamic Rigid Surfaces," IEEE/ASME Transactions on Mechatronics, accepted. [video] (AIM 2020 Best Student Paper Award Finalist)
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2019
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Y. Gao, Y. Gu, "Global-Position Tracking Control of a Fully Actuated NAO Bipedal Walking Robot," in Proc. of American Control Conference (ACC), 2019, pp. 4596-4601.
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Y. Gao, Y. Gu, "Global-Position Tracking Control for Multi-Domain Planar Bipedal Robotic Walking," in Proc. of ASME Dynamic Systems and Control Conference (DSCC), 2019
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