Publications

 

Journal Papers

  • Z. Gan, Y. Yesilevskiy, P. Zaytsev, and C. D. Remy. All common bipedal gaits emerge from a single passive model. Journal of The Royal Society Interface, 15(146), 2018
  • Z. Gan, Z. Jiao, and C. D. Remy. On the dynamic similarity between bipeds and quadrupeds: A case study on bounding. IEEE Robotics and Automation Letters, 3(4):3614–3621, 2018
  • Z. Gan, H. Tang, E. Treadway, R. B. Gillespie, and C. D. Remy. Modelling of a variable hydraulic transmission for prosthetic device. Transactions on Mechatronics, 2018
  • Z. Gan, T. Wiestner, M. A. Weishaupt, N. M. Waldern, and C. D. Remy. Passive dynamics explain quadrupedal walking, trotting, and tölting. Journal of computational and nonlinear dynamics, 11(2):021008, 2016
  • Y. Yesilevskiy, Z. Gan, and C. D. Remy. Energy-optimal hopping in parallel and series elastic 1d monopeds. ASME. J. Mechanisms Robotics, 2018
  • E. Treadway, Z. Gan, C. D. Remy, and R. B. Gillespie. Toward controllable hydraulic coupling of joints in a wearable robot. IEEE Transactions on Robotics, 34(3):748–763, 2018
 

Conference Papers

  • Z. Gan, K. Fry, R. B. Gillespie, and C. D. Remy. A novel variable transmission with digital hydraulics. In Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, pages 5838–5843. IEEE, 2015
  • Z. Gan and C. D. Remy. A passive dynamic quadruped that moves in a large variety of gaits. In Intelligent Robots and Systems (IROS), 2014 IEEE/RSJ International Conference on, pages 4876–4881. IEEE, 2014
  • Z. Gan, T. Watanabe, and S. Hara. Application of momentum-exchange-impact-damper to a horizontal collision problem. In Industrial Technology (ICIT), 2014 IEEE International Conference on, pages 18–23. IEEE, 2014
  • Y. Yesilevskiy, Z. Gan, and C. D. Remy. Optimal configuration of series and parallel elasticity in a 2d monoped. In Robotics and Automation (ICRA), 2016 IEEE International Conference on, pages 1360–1365. IEEE, 2016
  • Z. Gan, Y. Yesilevskiy, W. Xi, and C. D. Remy. From simple to complex models: Gaits as oscillations. In Proceedings of the 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM), 2015. Cambridge, USA
  • T. Cnops, Z. Gan, and C. D. Remy. The basin of attraction for running robots: Fractals, multistep trajectories, and the choice of control. In Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, pages 1586–1591. IEEE, 2015

 

Workshops and Invited Talks

  • Z. Gan, Z. Jiao, and C. D. Remy. Exploring the effect of body inertia on bounding and galloping gaits. The 2018 World Congress of Biomechanics, 2018. Dublin, Ireland
  • Z. Gan and C. D. Remy. Exploring the quadrupedal asymmetrical gaits. Midwest Robotics Workshop (MWRW), 2018. Toyota Technological Institute at Chicago, USA
  • Z. Gan and C. D. Remy. Exploring the role of passive dynamics in bipeds. Midwest Robotics Workshop (MWRW), 2017. Toyota Technological Institute at Chicago, USA
  • Z. Gan, Z. Jiao, and C. D. Remy. Exploring the quadrupedal asymmetrical gaits. Dynamic Walking, 2018. Pensacola, FL, USA
  • Z. Gan, Y. Yesilevskiy, and C. D. Remy. A slip model with swing dynamics can predict more gaits. Dynamic Walking, 2016. Camp Ohiyesa, MI, USA
  • Y. Yesilevskiy, Z. Gan, and C. D. Remy. Exploring the role of natural dynamics in robotic walking and running. Dynamic Walking, 2016. Camp Ohiyesa, MI, USA
  • Z. Gan and C. D. Remy. A model based velocity study of walking and trotting horses. Dynamic Walking, 2015. OSU, Columbus, USA
  • Z. Gan and C. D. Remy. A passive dynamic model predicts all gaits of horses. Dynamic Walking, 2014. ETH, Zürich, Switzerland
  • Z. Gan and C. D. Remy. A simplistic model for quadrupedal walking and trotting. Dynamic Walking, 2013. CMU, Pittsburgh, USA