Bipedal Walking |

Online Terrain-Aware Bipedal Gait Generation via Manifold Projection and Optimization-Guided Motion Libraries

Thu, 01 Jan 2026 00:00:00 +0000

First-author manuscript under review. Update publication metadata after acceptance.

A Center-of-Mass State Estimation Method for Biped Robot Walking Based on Federated Kalman Filtering

Tue, 03 Jun 2025 00:00:00 +0000

Patent record

Field	Official record
Chinese title	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
Patent number	ZL 2022 1 0904539.4
Application date	29 July 2022
Grant date	3 June 2025
Grant announcement	CN 115183779 B
Certificate number	7979388
Patentee	Beijing Institute of Technology

Official inventors: 黄强、赖俊杭、陈学超、余张国、高峻峣、李庆庆、李超。

Efficient hybrid environment expression for look-and-step behavior of bipedal walking

Wed, 01 Jan 2025 00:00:00 +0000

Student third-author paper. Add DOI, PDF, and full author list when available.

An Omnidirectional Center-of-Mass Trajectory Planning Method for Biped Robots Based on Bilevel Model Predictive Control

Tue, 28 May 2024 00:00:00 +0000

Patent record

Field	Official record
Chinese title	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
Patent number	ZL 2022 1 1010867.6
Application date	23 August 2022
Grant date	28 May 2024
Grant announcement	CN 115256396 B
Certificate number	7042067
Patentee	Beijing Institute of Technology

Official inventors: 黄强、赖俊杭、陈学超、余张国、高峻峣、李庆庆。

A Footstep Planning Method for Biped Robots Based on Variable-Parameter Velocity Mapping and Quadratic Programming

Tue, 14 Mar 2023 00:00:00 +0000

Patent record

Field	Official record
Chinese title	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
Patent number	ZL 2022 1 0173869.0
Application date	24 February 2022
Grant date	14 March 2023
Grant announcement	CN 114527663 B
Certificate number	5781760
Patentee	Beijing Institute of Technology

Official inventors: 黄强、赖俊杭、陈学超、余张国、李庆庆、石青、黄岩。

Primate-Inspired High-Mobility Robot

Wed, 01 Sep 2021 00:00:00 +0000

This national key R&D project studied primate-inspired high-mobility robot motion, including prone locomotion and omnidirectional walking.

For biomimetic motion planning, I designed a central-pattern-generator based planning method to coordinate limbs during low-posture crawling, supporting stable crawling and slope climbing. This work led to one authorized invention patent and one EI paper.

For bipedal walking, I proposed a multi-frequency decoupled planning architecture from command velocity to foot placement and gait generation. The controller combined quadratic-programming based footstep pose planning with model-predictive gait trajectory planning, enabling command-following omnidirectional walking and dynamic obstacle avoidance. This work led to two authorized invention patents.