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Publications

2022

​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]
tmech_2021_1st_submission_arxiv.pdf
File Size: 8927 kb
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2021_j-dsmc_1st_submission.pdf
File Size: 3776 kb
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2021

​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
gao_mecc2021_1stsubmission.pdf
File Size: 908 kb
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2020

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)
1910.10633.pdf
File Size: 4193 kb
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aim2020.pdf
File Size: 2076 kb
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2019

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.
acc2019.pdf
File Size: 1243 kb
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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
dscc2019_finalized.pdf
File Size: 776 kb
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