Juntong Su's research while affiliated with The Chinese University of Hong Kong and other places

Publications (6)

Article
Recent advancement in quadrupedal robustness and agility has shown the exciting progress towards the early adoption, yet there remains a challenge to enhance the payload capacity for the dynamic locomotion with electrically actuated legged robots. This study presents Kirin, a quadruped robot with prismatic leg driven by quasi-direct drives (QDDs) f...
Article
Full-text available
Quadruped robots manifest great potential to traverse rough terrains with payload. Current model-based controllers, which are extensively adopted in quadruped robot locomotion control, rely on accurate estimation of parameters and will significantly deteriorate in severe disturbance, e.g., adding heavy payload. This article introduces an online ide...
Preprint
Full-text available
A hopping leg, no matter in legged animals or humans, usually behaves like a spring during the periodic hopping. Hopping like a spring is efficient and without the requirement of complicated control algorithms. Position and force control are two main methods to realize such a spring-like behaviour. The position control usually consumes the torque r...
Preprint
Full-text available
Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit high sensitivity to model uncertainties and payload variations. Therefore, high-performance model parameter estimation becomes indispensable. However, the inertia parameter...
Conference Paper
Full-text available
With the gradual maturity of the software and hardware of quadruped robots, the application scenarios of quadruped robots are increasing, such as security, rescue, exploration and other tasks. Quadruped robots are flexible and adaptive to challenging or complex environment. This study presents a large-scale quadruped robot, Pegasus II, which is a n...

Citations

... and are the position vectors of and the payload w.r.t. the CoM, respectively. The details about the estimation of can be seen in [28]. is the robot's position. ...
... Quadruped locomotion has been a vibrant research field, reaching a level of maturity and performance that enables some of the most advanced real-world applications with the autonomous quadruped robots both in academia and industry [1][2][3][4]. The quadruped robots are adaptable to the complex terrains, such as the steep slopes in the mountains, the forest, and the warehouses [5]. ...