Yiheng Zhao

Papers

Total Citations

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About

Yiheng Zhao is a rising roboticist whose work centers on novel locomotion systems for mobile and legged robots. His research addresses fundamental challenges in mechanical design, underactuation, and dynamic stability. In a 2024 study, Zhao introduced the Multi-locomotion Parallel-Legged Bipedal Robot (MPLBR), a point-footed biped that achieves dynamic balance through a symmetric architecture with six motors and a five-link double crank mechanism. This design, which has already garnered 8 citations, represents a significant step toward efficient, multi-gait bipedal locomotion. More recently, in 2025, Zhao tackled the limitations of conventional omnidirectional wheels by developing a double-mode underactuated coupled-drive omnidirectional mobile robot. This work, earning 3 citations, enhances adaptability and maneuverability in constrained environments. By combining rigorous mechanical analysis with practical control strategies, Zhao is pushing the boundaries of what underactuated and parallel mechanisms can achieve in robotics. His contributions are particularly valuable for researchers exploring cost-effective, versatile platforms for real-world navigation and locomotion.