Shicheng Ma

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About

Shicheng Ma is a robotics researcher whose work focuses on advancing locomotion control for quadruped robots through the innovative application of fractional calculus. His primary research areas include virtual model control, impedance control, and compliant motion for legged systems. Ma’s most significant contribution is the development of a fractional-order virtual model control framework for trotting motion, which enhances both the robustness and precision of traditional virtual model control (VMC) while maintaining compliant foot-ground interaction. This work, published in 2020, has garnered 11 citations and represents a key step in improving dynamic stability for quadruped robots. Additionally, Ma has explored force-based fractional impedance control (2019, 4 citations), investigating how fractional derivatives can improve compliance control in legged robots by modifying the derivative term in outer-loop impedance controllers. Through these studies, Ma has demonstrated that fractional-order methods offer a promising path toward more adaptive and reliable robot locomotion, bridging theoretical control advances with practical robotic applications.