Academic Outputs

Junhang Lai (2026). Online Terrain-Aware Bipedal Gait Generation via Manifold Projection and Optimization-Guided Motion Libraries. IEEE/ASME Transactions on Mechatronics.
Qiang Huang, Junhang Lai, Xuechao Chen, Zhangguo Yu, Junyao Gao, Qingqing Li, Chao Li (2025). A Center-of-Mass State Estimation Method for Biped Robot Walking Based on Federated Kalman Filtering. CNIPA.
Junhang Lai, Xuechao Chen, Zhangguo Yu, Zhuo Chen, Chencheng Dong, Xiaofeng Liu, Qiang Huang (2025). Towards high mobility and adaptive mode transitions: Transformable wheel-biped humanoid locomotion strategy. ISA Transactions.
Chao Li, Qingqing Li, Junhang Lai, Xuechao Chen, Zhangguo Yu, Zaihua Jiang (2025). Efficient hybrid environment expression for look-and-step behavior of bipedal walking. Cyborg and Bionic Systems.
Chencheng Dong, Zhangguo Yu, Xuechao Chen, Junhang Lai, Jiayi Liu, Chao Li, Qiang Huang (2025). Concept and strategies: Equivalent predictive control and handle point control for bipedal-vehicle transformable robots under various disturbances. IEEE Transactions on Automation Science and Engineering.
Qiang Huang, Junhang Lai, Xuechao Chen, Zhangguo Yu, Junyao Gao, Qingqing Li (2024). A Whole-Body Motion Planning Method for Low-Posture Crawling of Humanoid Robots Based on Key Mode Decomposition and CPG. CNIPA.
Qiang Huang, Junhang Lai, Xuechao Chen, Zhangguo Yu, Junyao Gao, Qingqing Li (2024). An Omnidirectional Center-of-Mass Trajectory Planning Method for Biped Robots Based on Bilevel Model Predictive Control. CNIPA.
Qiang Huang, Junhang Lai, Xuechao Chen, Zhangguo Yu, Junyao Gao, Qingqing Li, Chao Li (2024). A Linear Characterization Method for the Feasible Motion Range of a Three-DoF Electrically Driven Coupled Robot Joint. CNIPA.
Qiang Huang, Junhang Lai, Xuechao Chen, Zhangguo Yu, Qingqing Li, Qing Shi, Yan Huang (2023). A Footstep Planning Method for Biped Robots Based on Variable-Parameter Velocity Mapping and Quadratic Programming. CNIPA.
Xiang Meng, Zhen Huang, Qihang Liang, Yudong Dong, Zhengyang Gao, Lei Han, Junhang Lai, Sen Gu, Hang Chen (2023). Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion. IFToMM World Congress on Mechanism and Machine Science.