Junheng Li
Papers
7
Total Citations
85
H-Index
3
About
Junheng Li is a robotics researcher specializing in legged locomotion, whole-body control, and humanoid robotics, with a particular focus on developing advanced control frameworks that push the boundaries of dynamic robot movement. His most influential contribution, a force-and-moment-based Model Predictive Control (MPC) framework for bipedal robots, has garnered over 48 citations and established a compelling approach to achieving highly dynamic locomotion using simplified rigid body dynamics across 10-DoF systems. This work has become a foundational reference for researchers tackling the complexity of bipedal motion planning and control. Beyond bipedal systems, Li has made significant strides in wheel-legged robot control, proposing pose optimization and quadratic programming-based force control strategies that enable robots to navigate challenging terrains and high obstacles with remarkable agility. More recently, his research has expanded into humanoid loco-manipulation — the synchronized coordination of locomotion and manipulation — including contributions to the open-source HECTOR humanoid platform and kinodynamic pose optimization for pushing heavy objects. With a growing citation record across multiple robotic platforms and control paradigms, Li represents an emerging voice in the effort to make versatile, dynamic robots a practical reality.
Research Focus
Key Achievements
Top Papers
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- 3Kinodynamic Pose Optimization for Humanoid Loco-Manipulation10 citations · 2023
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