Haoqin Yang

Papers

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About

Haoqin Yang is a robotics researcher whose work centers on the control and locomotion of humanoid robots, with a particular focus on achieving stable, real-time bipedal walking. His most significant contributions are demonstrated through his work on the LOCH humanoid robot platform. Yang pioneered a deterministic approach to planning and controlling biped walking, addressing the long-standing challenge of how to achieve both speed and stability in a changing environment. This foundational work, published in 2008 and 2009, has garnered a combined 13 citations, establishing a practical framework for real-time gait generation. Further expanding the capabilities of humanoid systems, Yang also investigated self-learning mechanisms for gravity compensation, a crucial step for enabling fast and precise joint-level movements. Inspired by biological systems, this work, which has received 4 citations, proposed a learning approach to automatically compensate for gravitational forces, thereby simplifying control and improving movement accuracy. Yang’s research provides essential building blocks for more autonomous and adaptable humanoid robots, bridging the gap between theoretical control methods and practical, real-world application.