Papers
24
Total Citations
432
H-Index
13
About
Wen-Loong Ma is a robotics and control systems researcher whose work sits at the intersection of legged locomotion, hybrid dynamical systems, and data-driven control. His research focuses on developing principled frameworks for bipedal and quadrupedal robot locomotion, with particular emphasis on translating theoretical guarantees into robust real-world hardware implementations. Ma's most significant contributions include pioneering multi-contact locomotion methodologies inspired by human walking mechanics, demonstrated experimentally on platforms such as AMBER2 and ATRIAS. His work on bipedal running with DURUS-2D advanced the state of the art in controlling highly dynamic, underactuated systems. A recurring theme across his research is bridging the gap between idealized models and physical reality — most notably through his 2021 paper on online learning of residual dynamics for model-based controllers, which has garnered 52 citations and reflects a growing interest in combining learning with classical control. His contributions extend to safety-critical cooperative locomotion between robotic guide dogs and visually impaired humans, demonstrating a commitment to socially impactful robotics. With over 300 cumulative citations across his top works, Ma has established himself as a meaningful contributor to the legged robotics community, offering both rigorous theoretical tools and compelling experimental demonstrations.
Research Focus
Key Achievements
Top Papers
- 1
- 2Human-inspired multi-contact locomotion with AMBER243 citations · 2014
- 3Bipedal Robotic Running with DURUS-2D43 citations · 2017
- 4Data-driven control for feedback linearizable single-input systems39 citations · 2017
- 5
- 6Multi-contact bipedal robotic locomotion28 citations · 2015
- 7Human-inspired walking via unified PD and impedance control24 citations · 2014
- 8
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- 10