Papers
8
Total Citations
144
H-Index
7
About
Shusheng Ye is a leading roboticist specializing in quadruped locomotion, high-payload actuation, and adaptive control for dynamic environments. His work bridges the gap between theoretical control systems and practical, energy-efficient robot design. Ye’s major contributions include the development of prismatic quasi-direct-drive actuators, which enable quadruped robots to carry heavy payloads while maintaining dynamic agility—a critical advancement for real-world deployment. He also pioneered a synchronously-nonlinearity-corrected FMCW LiDAR system, achieving highly-time-resolved tracking of position, velocity, and acceleration for fast-moving legged robots. His research on unknown payload adaptive control allows quadrupeds to maintain stable locomotion even when carrying unmeasured loads, significantly enhancing robustness. With over 144 citations across his most-cited works, Ye’s impact is evident in his systematic approach to energy-efficient foothold selection and swing leg trajectory planning on rough terrain. Notable achievements include the design of a large-scale electrically-actuated quadruped capable of navigating narrow passages, and early work on the Cerberus humanoid robot. His integrated focus on hardware design, perception, and control positions him as a key innovator in making legged robots practical for security, rescue, and exploration missions.
Research Focus
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Top Papers
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- 8Cerberus the Humanoid Robot: Part I - Design2 citations · 2005