Human-guided quadruped locomotion requires re-liable intent inference and safe authority allocation under un-certain interaction and uneven terrain. This study proposes an uncertainty-adaptive shared-control framework with multimodal intent fusion for a Unitree Go2 quadruped. Interaction force, relative human–robot mot...
Li-Kai Wu· International Journal of Adv...· 1 citation
Joint failures can disrupt gait coordination, velocity tracking, and body stability in quadruped robots by reducing the available control authority. This study investigates faults in which joints remain locked at fixed angles and presents Adjudicate Reconfiguration and Evolving Regularization Meta Reinforcement Learnin...
Li-Kai Wu, C. Chow, Wei-Ru Wong et al.· PLoS ONE· 0 citations
This review examines AI-driven locomotion, including reinforcement learning, non-RL machine-learning methods, model-based approaches, and hybrid strategies, with attention to robustness, sim-to-real transfer, sensor use, computational requirements, and hardware validation, and summarizes AI-supported advanced behaviors...
Li-Kai Wu, C. Chow, W. Wong et al.· Frontiers in Neurorobotics· 0 citations
Experimental results demonstrate that the integrated system improves locomotion stability, energy efficiency, and terrain adaptability compared with baseline controllers, highlighting the effectiveness of combining a structured gait prior, lightweight residual coordination, and hardware-aware deployment for practical q...
