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Creators/Authors contains: "Ye, Keran"

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  1. ; (, IEEE)
    Free, publicly-accessible full text available May 22, 2026
  2. ; ; (, IEEE)
    Full Text Available 
  3. ; ; (, IEEE)
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  4. ; (, IEEE International Conference on Robotics and Automation (ICRA))
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  5. ; ; ; (, Frontiers in Robotics and AI)
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  6. ; (, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))
    This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a prismatic robotic spine that is actively preloaded and mechanically lock-enabled at initial and maximum length, and develop a constrained trajectory optimization method to co-optimize the elastic parameters and motion trajectories toward enhanced jumping distance. Results reveal that a less stiff spring is likely to facilitate jumping performance not as a direct propelling source but as a means to unleash more motor power for propelling by trading-off overall energy efficiency. We also visualize the impact of spring coefficients on the overall optimization routine from energetic perspectives to identify the suitable parameter region. 
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  7. ; ; ; ; ; (, 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE))
    null (Ed.)
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