Zelin Huang
Papers
7
Total Citations
61
H-Index
5
About
Zelin Huang is a leading researcher in humanoid robotics, specializing in bipedal locomotion, motion generation, and whole-body control for robots operating in complex, unstructured environments. His major contributions include developing novel hierarchical control strategies that enable biped robots to walk on uneven terrain with reduced foot contact impacts, and an online running-gait generator that achieves smooth state switching and accurate speed tracking—critical for reactive and stable locomotion. Huang’s work on online adaptive motion generation via template behavior extension allows humanoid robots to navigate non-flat terrain without prohibitive computational costs, while his design of crawling motions for bipedal robots with rigid-flexible waists expands their versatility in confined spaces. His research on knee-stretched walking using model predictive control promotes energy-efficient, human-like gaits with toe-off and heel-strike, and his task-space whole-body control with variable contact force adaptation enhances robustness against unknown disturbances. With over 60 citations across his most-cited papers, Huang’s work has significantly advanced the practicality and adaptability of humanoid robots, bridging the gap between theoretical control and real-world deployment.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3
- 4
- 5
- 6
- 7A Falling Forwards Protection Strategy for Humanoid Robots3 citations · 2018