Xuanqi Zeng

Harbin Institute of Technology, Chinese University of Hong Kong

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About

Xuanqi Zeng is a robotics researcher specializing in the dynamic locomotion and control of quadruped robots, with a focus on achieving high-speed, agile, and robust movement. Their work bridges the gap between theoretical control models and real-world hardware performance. A key contribution is their 2019 paper on "Leg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait," which has garnered 30 citations for its bio-inspired leg design that prioritizes lightweight, low-inertia structures to enable high acceleration. Zeng further advanced the field by addressing a critical limitation in Model Predictive Control (MPC) in their 2024 work, introducing an "Adaptive Model Predictive Control with Data-driven Error Model" that compensates for model-reality mismatches, significantly improving locomotion robustness. Most recently, they have pushed the boundaries of quadrupedal agility with a "Fast Online Omnidirectional Quadrupedal Jumping Framework," achieving real-time planning and execution of complex jumps. This work tackles the challenging dynamics of impulse contacts, demonstrating a leap toward more versatile and responsive robots. Zeng’s research is pivotal for students and engineers aiming to develop legged robots that can operate with both speed and precision in unstructured environments.