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Journal Articles

Global-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation

Yuan Gao, Kentaro Barhydt, Christopher Niezrecki, Yan Gu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2025, 147(1): 011003.
Paper No: DS-23-1129
https://doi.org/10.1115/1.4065323
Published Online: August 17, 2024
View Article titled, Global-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation
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Topics: Control equipment, Design, Dynamics (Mechanics), Errors, Robots, Simulation, Stability, Robot dynamics, Quadratic programming, Motors
Journal Articles

Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis

Yan Gu, Yuan Gao, Bin Yao, C. S. George Lee
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2022, 144(11): 111001.
Paper No: DS-21-1241
https://doi.org/10.1115/1.4054732
Published Online: August 18, 2022
View Article titled, Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis
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Topics: Construction, Control equipment, Design, Dynamics (Mechanics), Errors, Robots, Simulation, Stability, Theorems (Mathematics), Trajectories (Physics)
Journal Articles

Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties

Yan Gu, Chengzhi Yuan
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2021, 143(8): 081007.
Paper No: DS-20-1357
https://doi.org/10.1115/1.4050259
Published Online: April 7, 2021
View Article titled, Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties
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Topics: Control equipment, Parameter estimation, Stability, Uncertainty, Design, Errors, Trajectories (Physics), Tracking control, Robust control, Feedback
Journal Articles

Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms

Amir Iqbal, Zhu Mao, Yan Gu
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2021, 1(2): 021007.
Paper No: ALDSC-19-1155
https://doi.org/10.1115/1.4046962
Published Online: May 22, 2020
View Article titled, Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms
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Topics: Computer simulation, Control equipment, Dynamics (Mechanics), Modeling analysis, Simulation, Springs, Simulation results, Dynamic models, Legged locomotion, Bridges (Structures)
Proceedings Papers

Global-Position Tracking Control of Multi-Domain Planar Bipedal Robotic Walking

Yuan Gao, Yan Gu
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T03A009, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9117
https://doi.org/10.1115/DSCC2019-9117
View Paper titled, Global-Position Tracking Control of Multi-Domain Planar Bipedal Robotic Walking
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Topics: Robotics, Tracking control, Robots, Dynamics (Mechanics), Closed loop systems, Construction, Engineering simulation, Modeling, Simulation
Proceedings Papers

Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms

Amir Iqbal, Zhu Mao, Yan Gu
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T07A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9115
https://doi.org/10.1115/DSCC2019-9115
View Paper titled, Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms
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Journal Articles

Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities

Yan Gu, Bin Yao, C. S. George Lee
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2018, 140(5): 051008.
Paper No: DS-17-1107
https://doi.org/10.1115/1.4038268
Published Online: December 19, 2017
View Article titled, Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities
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Topics: Design, Dynamics (Mechanics), Errors, Robotics, Simulation results, Stability, Trajectories (Physics), Feedback, Control equipment
Proceedings Papers

Multi-Objective Optimization of Virtual Human Motion Posture for Assembly Operation Simulation

Yunfei Yang, Yan Gu, Xiumin Fan, Huanchong Cheng
Proc. ASME. IDETC-CIE2016, Volume 1A: 36th Computers and Information in Engineering Conference, V01AT02A056, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59740
https://doi.org/10.1115/DETC2016-59740
View Paper titled, Multi-Objective Optimization of Virtual Human Motion Posture for Assembly Operation Simulation
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Topics: Manufacturing, Pareto optimization, Simulation, Optimization, Virtual assembly, Algorithms, Chain, Engines, Ergonomics, Mechanical products
Proceedings Papers

Experimental Study on Composite Containment Vessels

Qi Dong, Yan Gu
Proc. ASME. PVP2014, Volume 5: High-Pressure Technology; ASME NDE Division; 22nd Scavuzzo Student Paper Symposium and Competition, V005T05A017, July 20–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: PVP2014-28136
https://doi.org/10.1115/PVP2014-28136
View Paper titled, Experimental Study on Composite Containment Vessels
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Topics: Composite materials, Containment vessels, Vessels, Carbon fibers, Glass fibers, Design, Dynamic response, Failure, Failure mechanisms