Papers
5
Total Citations
38
H-Index
3
About
Penglong Zheng is a robotics researcher specializing in the locomotion and control of large-scale, heavy-duty legged robots, with a particular focus on hexapod and quadruped platforms. His major contributions lie in developing robust control strategies for robots operating on rough, unpredictable terrains, where fixed gait patterns often fail. Zheng’s most cited work, “A free gait controller designed for a heavy load hexapod robot” (21 citations), addresses this challenge by proposing an adaptive gait that responds to local topographic changes, enabling stable movement under heavy loads. He further advanced the field with a foot-force distribution method for stable body posture and high computational efficiency in large hexapods, and has explored force control for pantograph legs to mitigate high-impact issues. Extending his expertise to construction machinery, Zheng applied robot modeling theory to hydraulic excavators, developing forward and inverse kinematics models for automation. His work also includes a novel Cubature Kalman Filter capable of handling multiplicative and correlated noises, improving state estimation for quadruped robots. With a clear focus on bridging theoretical control methods with practical, heavy-duty applications, Zheng’s research is pivotal for the next generation of autonomous, terrain-adaptive robots.
Research Focus
Key Achievements
Top Papers
- 1A free gait controller designed for a heavy load hexapod robot21 citations · 2019
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