Alqaham, Y.G., Cheng, J. and Gan, Z., Energy-Optimal Asymmetrical Gait Selection for Quadrupedal Robots. IEEE Robotics and Automation Letters, Aug 2024.
Ding, J., and Gan. Z., Breaking Symmetries Leads to Diverse Quadrupedal Gaits. IEEE Robotics and Automation Letters, vol. 9, no. 5, pp. 4782-4789, May 2024, doi: 10.1109/LRA.2024.3384908.
Ding, J., Moore, T. Y., and Gan, Z. (2022). A Template Model Explains Jerboa Gait Transitions Across a Broad Range of Speeds. Frontiers in bioengineering and biotechnology, 10, 804826. https://doi.org/10.3389/fbioe.2022.804826
Z. Gan, H. Tang, E. Treadway, R. B. Gillespie, and C. D. Remy, Modeling and Experimental Evaluation of a Variable Hydraulic Transmission. IEEE/ASME Transactions on Mechatronics, vol. 25, no. 2, pp. 750-761, April 2020, doi: 10.1109/TMECH.2019.2963880.
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
Cheng J, Alqaham YG, Sanyal AK, Gan Z. Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots. 2023 American Control Conference (ACC), San Diego, USA. doi: 10.23919/ACC55779.2023.10156623.
J. Liu, P. Zhao, Z. Gan, M. Johnson-Roberson and R. Vasudevan. Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design. 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 10869-10875, doi: 10.1109/ICRA40945.2020.9197017.
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
J. Ding, T. Moore, and Z. Gan.Exploring asymmetrical gaits using natural dynamics. Dynamic Walking, 2022. Madison, WI, USA
J. Ding and Z. Gan. Exploring the structure of bipedal asymmetrical gaits using a tem-
plate model. Dynamic Walking, 2021. Virtual
Z. Gan and T. Moore. Understand gait transition in Jerboas using a template model. Dynamic Walking, 2020. Philadelphia, PA, USA
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