Publication

Full publication list is on google scholar.

Papers under review or accepted

None

Journal

F. Han, and J. Yi, Safe Motion Control of Autonomous Vehicle Ski-Stunt Maneuvers. IEEE/ASME Transactions on Mechatronics, 2023. Video
P. Wang, F. Han, and Yi, Jingang, “Gyroscopic Balancer-Enhanced Motion Control Of An Autonomous Bikebot,” in Journal of Dynamic Systems, Measurement, and Control, pp. 1-15, 2023. PDF
F. Han, X. Huang, Z. Wang, J. Yi and T. Liu, “Autonomous Bikebot Control for Crossing Obstacles With Assistive Leg Impulsive Actuation,” in IEEE/ASME Transactions on Mechatronics, vol. 27, no. 4, pp. 1882-1890, Aug. 2022. Concurrent Submission to 2022 AIM Conference. PDF Video 2022 Finalist of Best Transaction Paper.
F. Han, A. Jelvani, J. Yi and T. Liu, “Coordinated Pose Control of Mobile Manipulation With an Unstable Bikebot Platform,” in IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 4550-4560, Dec. 2022. PDF, Video
F. Han and J. Yi, “Stable Learning-Based Tracking Control of Underactuated Balance Robots,” in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1543-1550, April 2021. Concurrent Submission to 2021 ICRA Conference. PDF, Video1, Video2, Video3
T. Yigit, F. Han, E. Rankins, J. Yi, K. H. McKeever and K. Malinowski, “Wearable Inertial Sensor-Based Limb Lameness Detection and Pose Estimation for Horses,” in IEEE Transactions on Automation Science and Engineering, vol. 19, no. 3, pp. 1365-1379, July 2022. PDF

Conference

Feng Han and Jingang Yi. "Cascaded Nonlinear Control Design for Highly Underactuated Balance Robots." 2024 American Control Conference.
Han, Feng, and Jingang Yi. "Gaussian Process-Enhanced, External and Internal Convertible (EIC) Form-Based Control of Underactuated Balance Robots." 2024 IEEE International Conference on Robotics and Automation .
T. Zheng, F. Han, and J. Yi, Design and Control of An Agricultural Robot for Turf Grass Inspection. 2023 Modeling, Estimation and Control Conference (MECC).
F. Han and J. Yi, “On the Learned Balance Manifold of Underactuated Balance Robots,” 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 12254-12260. PDF
F. Han and J. Yi, “Learning-based Safe Motion Control of Vehicle Ski-Stunt Maneuvers,” 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Sapporo, Japan, 2022, pp. 724-729. PDF
C. Deng, Y. Gong, F. Han, S. Liao, J. Yi and B. Yuan, “VLSI Hardware Architecture for Gaussian Process,” 2020 54th Asilomar Conference on Signals, Systems, and Computers, Pacific Grove, CA, USA, 2020, pp. 121-124. PDF
M. Mihalec, F. Han, and J. Yi, “Integrated inverted pendulum and whole-body control design for bipedal robot with foot slip,” IFAC-PapersOnLine (2022 MECC Conference), Volume 55, Issue 37, pp. 376-381, 2022. PDF
X. Huang, F. Han, Y. Han, S. Wang, T. Liu and J. Yi, “Motion Control of an Autonomous Wheel-Leg Bikebot,” 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), Mexico City, Mexico, 2022, pp. 2341-2346. PDF
C. Zhu, F. Han and J. Yi, “Wearable Sensing and Knee Exoskeleton Control for Awkward Gaits Assistance,” 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), Mexico City, Mexico, 2022, pp. 2393-2398. PDF
T. Yigit, F. Han, E. Rankins, J. Yi, K. McKeever and K. Malinowski, “Wearable IMU-based Early Limb Lameness Detection for Horses using Multi-Layer Classifiers,” 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), Hong Kong, China, 2020, pp. 955-960. PDF

Presentation and Poster

Learning-based human physical underactuated balance robot control. Presented at 2023 Rutgers Robotics Workshop, New Brunswick NJ, USA.
Coordinated pose control of mobile manipulation with an unstable bikebot platform. Presented at 2022 Modeling, Estimation and Control Conference, Jersey City, USA and 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Seattle, WA, USA.
Safe Motion Control of Vehicle Ski-Stunt Maneuvers (Poster). Presented at 2022 Rutgers Robotics Workshop, New Brunswick NJ, USA.
Wearable inertial sensor based limb lameness detection and pose estimation for horses. Presented at 2022 IEEE International Conference on Automation Science and Engineering, Mexico City, Mexico.
Autonomous bikebot control for crossing obstacles with assistive leg impulsive actuation. Presented at 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Sapporo, Japan.
Safe Motion Control of Vehicle Ski-Stunt Maneuvers. Presented at 2nd Workshop on Opportunities And Challenges With Autonomous Racing, 2021 IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA.
Stable learning-based tracking control of underactuated balance robots. Presented at 2021 IEEE International Conference on Robotics and Automation, Xi’an, China.

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