Yan Gu

Yan Gu

Visiting Associate Professor Of Mechanical Engineering

School of Mechanical Engineering
Purdue University
585 Purdue Mall
West Lafayette, IN 47907-2088

Office: ME 3003A

Websites:

Degrees

  • Ph.D., Purdue, '17
  • B.S., Zhejiang University, China, '11

Research Interests

  • Legged locomotion
  • Humanoid and quadrupedal robots
  • Wearable robotics
  • Hybrid dynamical systems
  • Control
  • State estimation
  • Dynamics

Fundamental Research Area(s)

Application Area(s)

Awards and Recognitions

  • NSF CAREER Award, 2021
  • Best Student Paper Finalist Award, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2020
  • Verizon’s 5G Robotics Challenge Award, 2019
  • Excellence in Teaching Award, College of Engineering, University of Massachusetts Lowell, 2019
  • Estus H. and Vashti L. Magoon Award for Excellence in Teaching, College of Engineering, Purdue University, 2014
  • Frederick N. Andrews Fellowship, Graduate School, Purdue University, 2011
  • Chu Kochen Award, Zhejiang University, 2010

Selected Publications

Y. Gao, C. Yuan and Y. Gu, "Invariant Filtering for Legged Humanoid Locomotion on a Dynamic Rigid Surface," in IEEE/ASME Transactions on Mechatronics, vol. 27, no. 4, pp. 1900-1909, August 2022.

Z. Zhu*, S. M. R. Sorkhabadi*, Y. Gu and W. Zhang, "Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation With Sensor Misalignment," in IEEE/ASME Transactions on Mechatronics, vol. 27, no. 4, pp. 2158-2167, August 2022. (* indicates equal contribution)

Z. Zhu*, S. M. R. Sorkhabadi*, Y. Gu, W. Zhang, "Invariant Extended Kalman Filtering for Human Movement Estimation with Imperfect Sensor Placement," in Proc. of American Control Conference (ACC), 2022, in press. (* indicates equal contribution)

Y. Gu, C. Yuan, "Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties." in ASME Journal of Dynamic Systems, Measurement, and Control, vol. 143, no. 8, pp. 081007, August 2021.

A. Iqbal, Y. Gu, “Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms,” in ASME Letters in Dynamic Systems and Control, no. 1, vol. 2, pp. 021007, April 2021.

A. Iqbal, Y. Gu, “Extended Capture Point and Optimization-based Control for Quadrupedal Robot Walking on Dynamic Rigid Surfaces,” in Proc. of IFAC Modeling, Estimation, and Control Conference, 2021, vol. 54, no. 20, pp. 72-77.

A. Iqbal, Y. Gao, Y. Gu, “Provable Stabilization of Quadrupedal Robot Walking on Dynamic Rigid Platforms,” in IEEE/ASME Transactions on Mechatronics, vol. 25, no. 4, pp. 2035-2044, August 2020.

Y. Gao, Y. Gu, “Global-Position Tracking Control for Multi-Domain Planar Bipedal Robotic Walking,” in Proc. of ASME Dynamic Systems and Control Conference, 2019, pp. V001T03A009.

Y. Gao, Y. Gu, “Global-Position Tracking Control of a Fully Actuated NAO Bipedal Walking Robot,” in Proc. of American Control Conference, 2019, pp. 4596-4601.

Y. Gu, B. Yao, C. S. G. Lee, “Exponential Stabilization of Fully Actuated Bipedal Robotic Walking with Global Position Tracking Capabilities,” in ASME Journal of Dynamic Systems, Measurements, and Control, vol. 140, no. 5, pp. 051008, May 2018.

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,” in ASME Journal of Dynamic Systems, Measurements, and Control, in press.