Locomotion

Robust and reliable locomotion controllers are essential to the tasks that requires mobile manipulator platforms, e.g., the legged manipulation tasks over uneven terrain. To this end, I try to explore the ways to improve the locomotion capability for the legged robots.

Article

Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control. Shengzhi Wang, George Mesesan, Johannes Englsberger, Dongheui Lee, and Christian Ott. IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021