Yipeng Lu

Papers

Total Citations

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About

Yipeng Lu is a robotics researcher whose work focuses on the design, control, and locomotion of tensegrity robots—lightweight, resilient structures composed of rigid struts and flexible cables. His major contributions lie in advancing the autonomous mobility of these unconventional robots, particularly through path planning and gait robustness analysis. In his highly cited 2019 paper, Lu introduced a path planning approach for the rolling locomotion of polyhedral tensegrity robots using the Dijkstra algorithm, enabling long-distance navigation in constrained environments. This work, with 17 citations, laid critical groundwork for autonomous tensegrity movement. Building on this, his 2021 study (11 citations) systematically evaluated the robustness of rolling gaits for a six-strut tensegrity robot, addressing real-world uncertainties in terrain and actuation. By combining pre-designed gaits with formal robustness metrics, Lu’s research bridges the gap between theoretical tensegrity mechanics and practical, deployable robotics. His work has significant implications for planetary exploration, disaster response, and adaptive structures, where lightweight, impact-tolerant robots are essential. Yipeng Lu continues to push the boundaries of bio-inspired and compliant robotics, making tensegrity locomotion a viable paradigm for future autonomous systems.