Chenhui Lu

Shanghai University of Engineering Science

Papers

Total Citations

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About

Chenhui Lu is a robotics researcher whose work centers on reconfigurable locomotion, multi-modal mobility, and advanced control systems for wheeled and legged robots. His most influential contribution is the development of a reconfigurable multi-mode walking-rolling robot based on a single-loop closed-chain four-bar mechanism and motor time-sharing control, published in 2019 with 15 citations. This design enables seamless transitions between walking and rolling modes to adapt to varied terrain, addressing a key challenge in mobile robotics. Lu also contributed to nonlinear dynamics with his analysis of the Time Delay Chen System (2019, 8 citations), and more recently, he has advanced wheeled bipedal robot control by proposing a hybrid Linear Quadratic Regulator and Proportional-Derivative controller (2025). This work tackles the modeling limitations that often neglect dynamic changes in head angle and center of mass, improving terrain adaptability and motion efficiency. Through these innovations, Lu has demonstrated a sustained focus on bridging mechanical design and control theory to create more versatile, terrain-responsive robotic systems.