Linhai Gui

About

Linhai Gui is a robotics researcher whose work bridges the gap between agile locomotion and automated construction. His primary research areas include motion planning for legged robots, robotic manipulation for surface finishing, and vision-based control systems. Gui’s most impactful contribution is an optimal motion planning framework for quadrupedal jumping, which enables robots to automatically generate energy-efficient, dynamic maneuvers like flips and spins—a significant advance for legged robot agility. This work, published in 2022, has already garnered 23 citations for its novel formulation of centroidal dynamics as a 12-dimensional optimization problem. In parallel, Gui has made substantial contributions to construction robotics. He developed a building information modeling (BIM)-based system for automatic interior wall painting, integrating 3D reconstruction and coverage planning with an omnidirectional robot platform (18 citations). His vision-based impedance controllers for robotic wall polishing (15 and 4 citations) address critical safety and quality issues in manual renovation. By combining rigorous optimization with practical application, Gui is advancing both the theoretical foundations and real-world deployment of autonomous robots.

Research Focus

Key Achievements

Top Papers

1. 1
   An Optimal Motion Planning Framework for Quadruped Jumping

   23 citations · 2022
2. 2
   Building information modeling‐based 3D reconstruction and coverage planning enabled automatic painting of interior walls using a novel painting robot in construction

   18 citations · 2022
3. 3
   Global Vision-Based Impedance Control for Robotic Wall Polishing

   15 citations · 2019
4. 4
   Vision-Based Adaptive Impedance Control for Robotic Polishing

   4 citations · 2019
5. 5
   An Optimal Motion Planning Framework for Quadruped Jumping

   2 citations · 2022

Key Collaborators

Contact & Links