Weikun Zhen

About

Weikun Zhen is a leading researcher in autonomous robot navigation, with a particular focus on robust localization in GPS-denied and challenging environments. His most influential work, "Robust localization and localizability estimation with a rotating laser scanner" (106 citations), introduces a novel sensor fusion approach that integrates an Inertial Measurement Unit (IMU) with a rotating laser scanner. By combining an Error State Kalman Filter (ESKF) with a Gaussian Particle Filter (GPF), Zhen achieved highly reliable localization, even in degraded conditions. Building on this, his paper "Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB" (93 citations) directly addresses the critical challenge of robot positioning in confined, feature-sparse spaces, advancing the state of the art for inspection robotics. Beyond localization, Zhen has made notable contributions to bio-inspired robotics, including modeling rolling gaits for snake robots and developing a novel metamorphic quadruped robot with an articulating waist, which significantly enhances terrain adaptability. With over 300 total citations, his work bridges theoretical estimation theory with practical, field-ready solutions for autonomous systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Robust localization and localizability estimation with a rotating laser scanner

   106 citations · 2017
2. 2
   Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB

   93 citations · 2019
3. 3
   Modeling rolling gaits of a snake robot

   52 citations · 2015
4. 4
   Locomotive reduction for snake robots

   35 citations · 2015
5. 5
   Gait Planning of a Novel Metamorphic Quadruped Robot

   27 citations · 2016
6. 6
   Positioning Error Analysis of Least Squares Method for Wireless Sensor Networks

   3 citations · 2018

Key Collaborators

Contact & Links