Publications

Under Review

Yan Gu*, Guanya Shi*, Fan Shi*, I-Chia Chang, Yen-Jen Wang, Qilong Cheng, Zachary Olkin, Ivan Lopez-Sanchez, Yunchu Feng, Jian Zhang, Aaron D. Ames, Hao Su**, and Koushil Sreenath**, "Evolution of Humanoid Locomotion Control," under review. [pdf][website] (*equal contributions. **corresponding authors.)
I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin, Sangli Teng, Wenjing Li, Maani Ghaffari, Jingang Yi”, Yan Gu“, "A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future," under review. [pdf] (*corresponding authors.)
W. Chen, K. Zhang, C. Lin, Z. Zhang, Y. She, Y. Liu, R. A. Yeh. Z. He, S. Mou, Y. Gu, "DREAM-Chunk: Reactive Action Chunking with Latent World Model," under review. [pdf][website][code]
W. Chen, Z. He, S. Mou, Y. Gu, “Rethink Action Chunking in VLA through a Neurobiological Lens,” under review.
A. Iqbal, S. Veer, C. Niezrecki, Y. Gu, “HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion,” under review. [pdf][supplementary][video]

2026

S. R. Iyer, *I.-C. Chang, Y. Gu, Z. Kingston, “Vectorizing Projection in Manifold-Constrained Motion Planning for Real-Time Whole-Body Control,” in Proc. of IEEE International Conference on Intelligent Robots and Systems (IROS), accepted. [pdf]
L. C. Y. Tay, *I.-C. Chang, Y. Gu, “HybridMimic: Hybrid RL-Centroidal Control for Humanoid Motion Mimicking,” in Proc. of IEEE International Conference on Intelligent Robots and Systems (IROS), accepted.. [pdf]
M. Hu*, W. Chen*, W. Li*, F. Mandali**, Z. He**, R. Zhang**, P. Krisna**, K. Christian, L. Benaharon, D. Ma, K. Ramani, Y. Gu, "PACE: Physics Augmentation for Coordinated End-to-end Reinforcement Learning toward Versatile Humanoid Table Tennis," in Proc. of IEEE International Conference on Robotics and Automation (ICRA), accepted. [pdf][video] (*equal contributions. **equal contributions)
J. Kim*, W. Chen*, D. Soleymanzadeh*, Y. Ding**, X. Gao**, Z. Tu, R. Zhang, F. Fei, S. Veer, Y. Lyu***, M. Zheng***, Y. Gu***, “Position: Modular Safety Guardrails Are Necessary for Foundation-Model-Enabled Robots in the Real World,” in Proc. of International Conference on Machine Learning (ICML), accepted. (*equal contributions. **equal contributions. ***equal advising.) [pdf]
F. Mandali*, Z. He*, Y. Gu, “Proprioceptive Invariant State Estimation for Humanoid Robots on Non-inertial Ground,” IEEE/ASME Transactions on Mechatronics, accepted. (*equal contributions.) [pdf]
Z. Zhu*, W. Chen*, P.-C. Kao, J. Clark, L. Behnke, R. Kramer-Bottiglio, H. Yanco, Y. Gu, "Model-agnostic Meta-learning for Adaptive Gait Phase and Terrain Geometry Estimation with Wearable Soft Sensors," IEEE Robotics and Automation Letters, accepted. (*equal contributions.) [pdf]
Y. Chen, W. S. Lee, Y. Gu, Y. She, “Tactile-Reactive Gripper with an Active Palm for Dexterous Manipulation,” Nature npj Robotics, accepted.

2025

Y. Gao*, V. Paredes*, Y. Gong, Z. He, A. Hereid, and Y. Gu, "Time-Varying Foot-Placement Control for Humanoid Walking on Swaying Rigid Surfaces," IEEE Transactions on Robotics, accepted. (*equal contributions) [pdf][supplementary][video]
W. Chen, R. Yeh*, S. Mou*, Y. Gu*, "Leveraging Perturbation Robustness to Enhance Out-of-Distribution Detection," in Proc. of Conference on Computer Vision and Pattern Recognition (CVPR), accepted. (*co-senior advising) [pdf][supplementary]
Z. He, S. Teng, T.-Y. Lin, M. Ghaffari, Y. Gu, "Invariant Filtering for Full-State Estimation of Ground Robots in Non-Inertial Environments," IEEE/ASME Transactions on Mechatronics, accepted. [pdf][supplementary][video]
I. Noronha*, A. P. Jawaji*, J. C. Soto*, J. An, Y Gu, and U. Kaur, "MBE-ARI: A Multimodal Dataset Mapping Bi-directional Engagement in Animal-Robot Interaction," in Proc. of IEEE International Conference on Robotics and Automation (ICRA), accepted. (*equal contributions) [pdf]
J. Stewart*, I.-C. Chang*, Y. Gu, P. A. Ioannou, "Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion," in Proc. of American Control Conference (ACC), accepted. (*equal contributions) [pdf]
Z. He, S. Teng, T.-Y. Lin, M. Ghaffari, Y. Gu, "Invariant Filtering for Full-State Estimation of Ground Robots in Non-Inertial Environments," workshop paper, Robotics: Science and Systems (RSS), accepted. [pdf]
S. Misenti, Hertel B, Weng B, Donald R, A. Jawaji, M.-T. Kosoko-Thoroddsen, J. G. Trafton, A. Norton, R. Azadeh, Y. Gu, "Experimental evaluation of commercial quadruped robots: stability and performance in non-inertial environments," International Journal of Intelligent Robotics and Applications, 7, 1-26, February 2025. [pdf]
M.-T. Kosoko-Thoroddsen, "Evaluation and Improvement of a Hybrid Time-Varying Linear Inverted Pendulum Model Footstep Planner for Quadrupedal Locomotion on Dynamic Rigid Surfaces," M.S. thesis, Purdue University, 2025. [pdf]

2024

A. Kheddar, Y. Gu, M. Posa, A. Saccon, "Editorial Introduction to the IEEE T-RO Special Collection on Impact-Aware Robotics," IEEE Transactions on Robotics, 7(40), i-v, November 2024.
Z. He, S. Teng, T.-Y. Lin, M. Ghaffari, Y. Gu, "Legged Robot State Estimation within Non-inertial Environments," in Proc. of Control and Decision Conference (CDC), in press. [pdf]
Y. Gao, K. Barhydt, C. Niezrecki, Y. Gu, "Global-Position Tracking Control for Multi-Domain Bipedal Walking with Underactuation," Journal of Dynamic Systems, Measurement, and Control, in press. [pdf]
R. Donald, B. Hertel, S. Misenti, Y. Gu, R. Azadeh, "An Adaptive Framework for Manipulator Skill Reproduction in Dynamic Environments," International Conference on Ubiquitous Robotics (UR), accepted. [pdf]
S. Misenti, "Evaluation of Commercial Quadrupedal Robot Systems for Locomotion and Manipulation on Dynamic Rigid Surfaces," M.S. thesis, University of Massachusetts Lowell, 2023. [pdf]

2023

A. Iqbal, S. Veer, Y. Gu, "Analytical Solution to a Time-Varying LIP Model for Quadrupedal Walking on a Vertically Oscillating Surface," Mechatronics, 96, 103073, October 2023. [pdf][video]
P.-C. Kao, C. Lomasney, Y. Gu, J. Clark, H. Yanco, “Effects of Induced Motor Fatigue on Walking Mechanics and Energetics,” Journal of Biomechanics, 156, 111688, June 2023. [pdf]
A. Iqbal, S. Veer, Y. Gu, "Asymptotic Stabilization of Aperiodic Trajectories of a Hybrid-Linear Inverted Pendulum Walking on a Vertically Moving Surface," in Proc. of American Control Conference (ACC), 2023, pp. 3282-3287. [pdf]
Y. Gao, Y. Gong, V. Paredes, A. Hereid, Y. Gu, "Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface," in Proc. of American Control Conference (ACC), 2023, pp. 3030-3035. [pdf]
Y. Gao, S. Epstein, M. Inalpolat, Y.-N. Wu, Y. Gu, "Modeling of Interface Loads for EOD Suit Wearers," in Proc. of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2023, pp. 793-799. [pdf]
J. Zhang, Y. Gu, W. Zeng, C. Yuan, “Boundary Tracking Control for an Unstable Wave Equation with Uncertainties: a Backstepping Adaptive NN Approach,” in Proc. of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2023, pp. 305-310. [pdf]
A. Iqbal, S. Veer, Y. Gu, “Robust Quadrupedal Locomotion through Asymptotic Stabilization of H-LIP on Dynamic Rigid Surfaces with General Vertical Motion,” poster, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2023.
A. Iqbal, S. Veer, Y. Gu, “Robust Quadrupedal Locomotion on Rigid Surfaces with General Vertical Motion Through H-LIP Stabilization,” poster, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
Z. Zhu, J. P. Clark, L. Sanchez-Botero, A. Agrawala, R. Kramer-Bottiglio, P.-C. Kao, H. Yanco, Y. Gu, "Joint Angle Estimation Using Soft Wearable Sensor Measurement," poster, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. [pdf]
Y. Gao, V. Paredes, Y. Gong, Z. He, A. Hereid, Y. Gu, “Time-varying ALIP based Footstep Planner for Underactuated Humanoid Digit Robot Walking on a Swaying Rigid Surface,” poster, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. [pdf]
Y. Gao, "Time-Varying Control and State Estimation for Bipedal Locomotion," Ph.D. dissertation, University of Massachusetts Lowell, 2023. [dissertation]
A. Iqbal, "Modeling, Planning, and Control of Quadrupedal Locomotion on Dynamic Rigid Surfaces with Unknown Vertical Motions," Ph.D. dissertation, University of Massachusetts Lowell, 2023. [dissertation]

2022

Y. Gao, C. Yuan, Y. Gu, "Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces," IEEE Transactions on Mechatronics, 4(27), 1900-1909, August 2022. [pdf][video][supplementary]
Z. Zhu, S. M. R. Sorkhabadi, Y. Gu, W. Zhang, "Design and Evaluation of an Invariant Extended Kalman Filter for Human Locomotion Estimation with Sensor Misalignment," IEEE Transactions on Mechatronics, 4(27), 2158-2167, August 2022. [pdf]
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, 144(11), p.111011, November 2022. [pdf]
C. Yuan, Y. Gu, W. Zeng, “Hybrid Control of Switched LFT Uncertain Systems with Time-Varying Input Delays," International Journal of Control, 95(12), 3437-3448, December 2022. [pdf]
Z. Zhu, S. M. R. Sorkhabadi, Y. Gu, W. Zhang, "Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement," in Proc. of American Control Conference (ACC), 2022, pp. 3012-3018. [pdf]
Y. Gao, V. Paredes, A. Hereid, Y. Gu, "Exponential Stabilization of Periodic LIP walking on a Horizontally Moving Surface," Dynamic Walking (DW). [pdf]
A. Iqbal, S. Veer, Y. Gu, "Analytical Approximate Solution to Mathieu's Equation Enables Real-Time Motion Planning for Legged Robot Walking on a Vertically Moving Surface," Dynamic Walking (DW). [pdf]

2021

A. Iqbal, Y. Gu, "Extending Capture Point to Dynamic Rigid Surfaces," Dynamic Walking (DW). [pdf]
Y. Gao, Y. Gu, "Invariant Extended Kalman Filtering for Hybrid Models of Bipedal Robot Walking," in Proc. of Modeling, Estimation, and Control Conference (MECC), 2021, 54(20): pp. 290-297. [pdf]
A. Iqbal, Y. Gu, "Extended Capture Point and Optimization-based Control for Quadrupedal Robot Walking on Dynamic Rigid Surfaces," in Proc. of Modeling, Estimation, and Control Conference (MECC), 2021, 54(20): pp. 72-77. [pdf]
J. Zhang, Y. Gu, P. Stegagno, W. Zeng, C. Yuan, "Adaptive NN-Based Reference-Tracking Control of Uncertain Nonlinear Parabolic PDE Systems," in Proc. of IEEE Conference on Decision and Control (CDC), 2021, pp. 4052-4057. [pdf]
Y. Gu, C. Yuan, “Adaptive Robust Control for Hybrid Models of Fully Actuated Bipedal Robotic Walking," ASME Journal of Dynamic Systems, Measurements, and Control, 143(8), p.081007, August 2021. [pdf]
A. Iqbal, Z. Mao, Y. Gu, "Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms," ASME Letters in Dynamic Systems and Control, 1(2): 021007, April 2021. [pdf]
N. Deane, Y. Gu, P.-C. Kao, Y.-N. Wu, M. Inalpolat, "Pressure Monitoring based Estimation of the EOD Suit - Human Interface Load Distribution," International Journal of Intelligent Robotics and Applications, (5), 410-423, May 2021. [pdf]

2020

A. Iqbal, Y. Gao, Y. Gu, "Provably Stabilizing Controllers for Quadrupedal Robot Walking on Dynamic Rigid Surfaces," IEEE/ASME Transactions on Mechatronics, 25(4), 2035-2044, August 2020. [pdf][video][supplementary]
J. Tang, X. Chen, Y. Gu, M. Zheng. "Introduction to the focused section on machine learning, estimation and control for intelligent robotics," International Journal of Intelligent Robotics and Applications, (4): 375-377, December 2020. [pdf]
Y. Zhao, Y. Gu, "A Non-periodic Planning and Control Framework of Dynamic Legged Locomotion," International Journal of Intelligent Robotics and Applications, (4):95-108, February 2020. [pdf]
Y. Gu, C. Yuan, “Adaptive Robust Trajectory Tracking Control of Fully Actuated Bipedal Robotic Walking,” in Proc. of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020, pp. 1310-1315. [pdf]
Y. Gao, X. Da, Y. Gu, "Impact-Aware Online Motion Planning for Fully-Actuated Bipedal Robotic Walking," in Proc. of American Control Conference (ACC), 2020, pp. 2100-2105. [pdf]
C. Yuan, Y. Gu, W. Zeng, P. Stegagno, “Switching Model Predictive Control of Switched Linear Systems with Average Dwell Time,” in Proc. of American Control Conference (ACC), 2020, pp. 2888-2893. [pdf]

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. [pdf][video]
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, Vol. 59148, pp. V001T03A009. [pdf]
A. Iqbal, Z. Mao, Y. Gu, "Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms," in Proc. of ASME Dynamic Systems and Control Conference (DSCC), 2019, vol. 59148, pp. V001T07A002. [pdf]

2018

Y. Gu, B. Yao, C. S. George Lee, “Exponential Stabilization of Fully Actuated Bipedal Robotic Walking with Global Position Tracking Capabilities,” ASME Journal of Dynamic Systems, Measurements, and Control, 140(5): 051008, May 2018. [pdf]
Y. Gu, B. Yao, C. S. George Lee, “Straight-Line Contouring Control of Fully Actuated 3-D Bipedal Robotic Walking,” in Proc. of American Control Conference (ACC), 2018, pp. 2108-2113. [pdf]
W. K. Chan, Y. Gu, B. Yao, “Optimization of Output Function With Nonholonomic Virtual Constraints in Underactuated Bipedal Walking Control,” in Proc. of American Control Conference (ACC), 2018, pp. 6743-6748. [pdf]

2017

Y. Gu, B. Yao, C. S. George Lee, “Time-dependent Orbital Stabilization of Underactuated Bipedal Walking,” in Proc. of American Control Conference (ACC), 2017, pp. 4858-4863. [pdf]

2016

Y. Gu, B. Yao, C. S. George Lee, “Bipedal Gait Recharacterization and Walking Encoding Generalization for Stable Bipedal walking,” in Proc. of IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 1788-1793. [pdf]

2015

Y. Gu, C. S. George Lee, B. Yao, “Feasible Center of Mass Dynamic Manipulability of Humanoid Robots,” in Proc. of IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 5082-5087. [pdf]