Shunpeng Yang
Papers
5
Total Citations
58
H-Index
4
About
Shunpeng Yang is a leading researcher in legged robotics, with a primary focus on dynamic locomotion, balance, and push recovery for both bipedal and quadrupedal systems. His work bridges model-based control and reinforcement learning (RL) to achieve robust, agile movement. Yang’s major contributions include developing a switched-systems characterization of quadruped capturability, which provides a rigorous framework for understanding and executing push recovery without requiring static balance. He has also pioneered a hierarchical framework that combines an RL-based high-level planner with a model-based low-level controller for bipedal locomotion, enabling robust task-space command generation. For humanoid robots, Yang has designed a force-feedback-based whole-body stabilizer tailored for position-controlled platforms, and has applied Hamilton-Jacobi reachability analysis to the variable-height inverted pendulum model for zero-step capturability. His work on quadruped robots with parallel mechanisms further demonstrates his ability to handle complex, closed-chain dynamics. With over 58 citations across his most influential papers, Yang’s research is shaping the next generation of dynamically stable, push-recoverable legged robots, making him a key figure in advancing real-world robotic mobility and resilience.
Research Focus
Key Achievements
Top Papers
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- 2Template Model Inspired Task Space Learning for Robust Bipedal Locomotion20 citations · 2023
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