Under Review
- A. Iqbal, S. Veer, Y. Gu, "DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces," under review. [pdf][video]
- A. Stanwicks, P. Pang, Y. Kim, Y. Gu, Y.-N. Wu, "Acute Effects of High Intensity Interval Training with Body Cooling and Limb Compression in Healthy Young Adults," under review.
2022
- Y. Gao, V. Paredes, A. Hereid, Y. Gu, "Exponential Stabilization of Periodic LIP walking on a Horizontally Moving Surface," Dynamic Walking, accepted. [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, accepted. [pdf]
- Y. Gao, C. Yuan, Y. Gu, "Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces," IEEE Transactions on Mechatronics, accepted. [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, accepted. [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, accepted. [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), accepted. [pdf]
2021
- A. Iqbal, Y. Gu, "Extending Capture Point to Dynamic Rigid Surfaces," Dynamic Walking, accepted. [pdf]
- 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, accepted. [pdf]
- A. Iqbal, Y. Gu, "Optimization-based Planning and Control of Quadrupedal Robot Walking on Dynamic Rigid Surfaces," in Proc. of Modeling, Estimation, and Control Conference, accepted. [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, accepted.
- C. Yuan, Y. Gu, W. Zeng, “Hybrid Control of Switched LFT Uncertain Systems with Time-Varying Input Delays," International Journal of Control, in press.
- Y. Gu, C. Yuan, “Adaptive Robust Control for Hybrid Models of Fully Actuated Bipedal Robotic Walking," ASME Journal of Dynamic Systems, Measurements, and Control, in press. [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, accepted.
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.
- 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]