Papers
6
Total Citations
76
H-Index
4
About
Chenghao Hu’s research lies at the intersection of bipedal locomotion, compliant control, and multi-robot perception, with a focus on enabling humanoid robots to walk stably across complex, uneven, and discrete terrains. His major contributions include the development of the Variable Spring-Loaded Inverted Pendulum Model with Finite-sized Foot (CVSLIP-FF), which overcomes the limitations of traditional underactuated models by incorporating ankle and foot dynamics for improved controllability. Hu also introduced an innovative kinematic calibration method for hydraulic legs using an improved whale swarm algorithm, enhancing precision in robotic actuation. His work on compliant gait control has been widely recognized, with his most cited paper, “Kinematic calibration method for a two-segment hydraulic leg based on an improved whale swarm algorithm” (2019), accumulating 29 citations. His comprehensive overview on bipedal gait control methods (2023) has already garnered 20 citations, reflecting its impact as a key reference in the field. Notably, Hu has also ventured into collaborative SLAM using LiDAR remote sensing, demonstrating versatility in applying robotic techniques to geospatial data collection. His research is essential reading for anyone interested in robust, adaptive walking for humanoid robots in real-world environments.
Research Focus
Key Achievements
Top Papers
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- 2An overview on bipedal gait control methods20 citations · 2023
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- 6A Gait Planning Method for Humanoid Robot to Step Over Discrete Terrain3 citations · 2020