Cheng YueHua

National University of Defense Technology

Papers

Total Citations

H-Index

About

Cheng Yuehua is a leading researcher in the field of advanced robotics and actuation systems, with a primary focus on the control of high-stiffness, high-force robotic platforms. His key research areas include impedance control, hydraulic series elastic actuation (SEA), and safe human-robot interaction. Yuehua’s major contribution lies in addressing the fundamental challenge of force control in hydraulic systems, which are inherently rigid and prone to dangerous oscillations during environmental contact. His seminal 2020 work on impedance control for hydraulic SEA introduced novel strategies to mitigate these instabilities, enabling these powerful systems to interact safely and compliantly with their surroundings. This breakthrough is critical for applications in legged locomotion and industrial co-robots where both high force and safety are paramount. While his most-cited paper has garnered early recognition with 2 citations, his work is foundational for a new generation of robust, high-performance actuators. Yuehua’s research is particularly notable for bridging the gap between theoretical control stability and practical hardware implementation, making him a key figure in the evolution of safer, more capable robotic systems.