Academic Outputs |https://mr-tooth.github.io/publications/Academic OutputsHugoBlox Kit (https://hugoblox.com)en-usThu, 01 Jan 2026 00:00:00 +0000https://mr-tooth.github.io/media/icon_hu_1c0e9cb08cfb822a.pngAcademic Outputshttps://mr-tooth.github.io/publications/Online Terrain-Aware Bipedal Gait Generation via Manifold Projection and Optimization-Guided Motion Librarieshttps://mr-tooth.github.io/publications/terrain-aware-bipedal-gait-generation/Thu, 01 Jan 2026 00:00:00 +0000https://mr-tooth.github.io/publications/terrain-aware-bipedal-gait-generation/<p>First-author manuscript under review. Update publication metadata after acceptance.</p>A Center-of-Mass State Estimation Method for Biped Robot Walking Based on Federated Kalman Filteringhttps://mr-tooth.github.io/publications/biped-com-state-estimation-federated-kalman-filter/Tue, 03 Jun 2025 00:00:00 +0000https://mr-tooth.github.io/publications/biped-com-state-estimation-federated-kalman-filter/<h2 id="patent-record">Patent record</h2> <table> <thead> <tr> <th>Field</th> <th>Official record</th> </tr> </thead> <tbody> <tr> <td>Chinese title</td> <td>基于联邦卡尔曼滤波的双足机器人行走质心状态估计方法</td> </tr> <tr> <td>Patent number</td> <td>ZL 2022 1 0904539.4</td> </tr> <tr> <td>Application date</td> <td>29 July 2022</td> </tr> <tr> <td>Grant date</td> <td>3 June 2025</td> </tr> <tr> <td>Grant announcement</td> <td>CN 115183779 B</td> </tr> <tr> <td>Certificate number</td> <td>7979388</td> </tr> <tr> <td>Patentee</td> <td>Beijing Institute of Technology</td> </tr> </tbody> </table> <p>Official inventors: 黄强、赖俊杭、陈学超、余张国、高峻峣、李庆庆、李超。</p>Concept and strategies: Equivalent predictive control and handle point control for bipedal-vehicle transformable robots under various disturbanceshttps://mr-tooth.github.io/publications/equivalent-predictive-control-transformable-robots/Wed, 01 Jan 2025 00:00:00 +0000https://mr-tooth.github.io/publications/equivalent-predictive-control-transformable-robots/<p>Co-authored paper. Add DOI, PDF, and final publication metadata when available.</p>Efficient hybrid environment expression for look-and-step behavior of bipedal walkinghttps://mr-tooth.github.io/publications/hybrid-environment-expression-look-and-step/Wed, 01 Jan 2025 00:00:00 +0000https://mr-tooth.github.io/publications/hybrid-environment-expression-look-and-step/<p>Student third-author paper. Add DOI, PDF, and full author list when available.</p>Towards high mobility and adaptive mode transitions: Transformable wheel-biped humanoid locomotion strategyhttps://mr-tooth.github.io/publications/transformable-wheel-biped-locomotion/Wed, 01 Jan 2025 00:00:00 +0000https://mr-tooth.github.io/publications/transformable-wheel-biped-locomotion/<p>First-author paper. The exact DOI, PDF, and full author list should be filled in after bibliography cleanup.</p>A Whole-Body Motion Planning Method for Low-Posture Crawling of Humanoid Robots Based on Key Mode Decomposition and CPGhttps://mr-tooth.github.io/publications/low-posture-crawling-key-mode-cpg/Tue, 18 Jun 2024 00:00:00 +0000https://mr-tooth.github.io/publications/low-posture-crawling-key-mode-cpg/<h2 id="patent-record">Patent record</h2> <table> <thead> <tr> <th>Field</th> <th>Official record</th> </tr> </thead> <tbody> <tr> <td>Chinese title</td> <td>基于关键模态分解和CPG的仿人机器人低姿匍匐全身运动规划方法</td> </tr> <tr> <td>Patent number</td> <td>ZL 2022 1 0890454.5</td> </tr> <tr> <td>Application date</td> <td>27 July 2022</td> </tr> <tr> <td>Grant date</td> <td>18 June 2024</td> </tr> <tr> <td>Grant announcement</td> <td>CN 115070775 B</td> </tr> <tr> <td>Certificate number</td> <td>7107745</td> </tr> <tr> <td>Patentee</td> <td>Beijing Institute of Technology</td> </tr> </tbody> </table> <p>Official inventors: 黄强、赖俊杭、陈学超、余张国、高峻峣、李庆庆。</p>A Linear Characterization Method for the Feasible Motion Range of a Three-DoF Electrically Driven Coupled Robot Jointhttps://mr-tooth.github.io/publications/three-dof-coupled-joint-feasible-motion-range/Tue, 28 May 2024 00:00:00 +0000https://mr-tooth.github.io/publications/three-dof-coupled-joint-feasible-motion-range/<h2 id="patent-record">Patent record</h2> <table> <thead> <tr> <th>Field</th> <th>Official record</th> </tr> </thead> <tbody> <tr> <td>Chinese title</td> <td>机器人三自由度电驱动耦合关节的运动可行范围线性界定方法</td> </tr> <tr> <td>Patent number</td> <td>ZL 2022 1 1034563.3</td> </tr> <tr> <td>Application date</td> <td>26 August 2022</td> </tr> <tr> <td>Grant date</td> <td>28 May 2024</td> </tr> <tr> <td>Grant announcement</td> <td>CN 115256400 B</td> </tr> <tr> <td>Certificate number</td> <td>7031385</td> </tr> <tr> <td>Patentee</td> <td>Beijing Institute of Technology</td> </tr> </tbody> </table> <p>Official inventors: 黄强、赖俊杭、陈学超、余张国、高峻峣、李庆庆、李超。</p>An Omnidirectional Center-of-Mass Trajectory Planning Method for Biped Robots Based on Bilevel Model Predictive Controlhttps://mr-tooth.github.io/publications/omnidirectional-com-trajectory-planning-bilevel-mpc/Tue, 28 May 2024 00:00:00 +0000https://mr-tooth.github.io/publications/omnidirectional-com-trajectory-planning-bilevel-mpc/<h2 id="patent-record">Patent record</h2> <table> <thead> <tr> <th>Field</th> <th>Official record</th> </tr> </thead> <tbody> <tr> <td>Chinese title</td> <td>基于双层模型预测控制的双足机器人全向行走质心轨迹规划方法</td> </tr> <tr> <td>Patent number</td> <td>ZL 2022 1 1010867.6</td> </tr> <tr> <td>Application date</td> <td>23 August 2022</td> </tr> <tr> <td>Grant date</td> <td>28 May 2024</td> </tr> <tr> <td>Grant announcement</td> <td>CN 115256396 B</td> </tr> <tr> <td>Certificate number</td> <td>7042067</td> </tr> <tr> <td>Patentee</td> <td>Beijing Institute of Technology</td> </tr> </tbody> </table> <p>Official inventors: 黄强、赖俊杭、陈学超、余张国、高峻峣、李庆庆。</p>A Footstep Planning Method for Biped Robots Based on Variable-Parameter Velocity Mapping and Quadratic Programminghttps://mr-tooth.github.io/publications/a-footstep-planning-method-for-biped-robots-based-on-variable-parameter-velocity-mapping-and-quadratic-programming/Tue, 14 Mar 2023 00:00:00 +0000https://mr-tooth.github.io/publications/a-footstep-planning-method-for-biped-robots-based-on-variable-parameter-velocity-mapping-and-quadratic-programming/<h2 id="patent-record">Patent record</h2> <table> <thead> <tr> <th>Field</th> <th>Official record</th> </tr> </thead> <tbody> <tr> <td>Chinese title</td> <td>基于变参数速度映射和二次规划的双足机器人落脚点规划方法</td> </tr> <tr> <td>Patent number</td> <td>ZL 2022 1 0173869.0</td> </tr> <tr> <td>Application date</td> <td>24 February 2022</td> </tr> <tr> <td>Grant date</td> <td>14 March 2023</td> </tr> <tr> <td>Grant announcement</td> <td>CN 114527663 B</td> </tr> <tr> <td>Certificate number</td> <td>5781760</td> </tr> <tr> <td>Patentee</td> <td>Beijing Institute of Technology</td> </tr> </tbody> </table> <p>Official inventors: 黄强、赖俊杭、陈学超、余张国、李庆庆、石青、黄岩。</p>Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motionhttps://mr-tooth.github.io/publications/whole-body-motion-down-stairs/Sun, 01 Jan 2023 00:00:00 +0000https://mr-tooth.github.io/publications/whole-body-motion-down-stairs/<p>Imported from the Google Scholar-derived BibTeX seed. Add DOI, PDF, and full venue details when available.</p>Low-centroid crawling motion for humanoid robot based on whole-body dynamics and trajectory optimizationhttps://mr-tooth.github.io/publications/low-centroid-crawling-humanoid-motion/Sat, 01 Jan 2022 00:00:00 +0000https://mr-tooth.github.io/publications/low-centroid-crawling-humanoid-motion/<p>Imported from the Google Scholar-derived BibTeX seed. Add DOI, PDF, and full venue details when available.</p>