Zhang Qi-zhi

Beijing Institute of Power Machinery (China), Beijing Information Science & Technology University

Papers

Total Citations

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About

Zhang Qi-zhi is a robotics and control systems researcher whose work centers on nonholonomic motion planning, mobile robot control, and biped locomotion. His most significant contribution lies in advancing the motion planning and control of unicycle mobile robots — a challenging class of systems constrained by nonholonomic dynamics. In his highly cited 2006 paper (14 citations), Zhang developed an innovative algorithm that elegantly transforms the computationally demanding problem of optimal control in infinite-dimensional space into a tractable finite-dimensional one through controller parameterization, representing a meaningful practical advance for autonomous mobile robotics. This work built upon his earlier 2005 study exploring route optimization strategies for unicycle platforms, demonstrating a sustained and deepening commitment to this research thread. Beyond wheeled robots, Zhang extended his expertise to legged locomotion, co-authoring a 2010 study applying Particle Swarm Optimization (PSO) and spline approximation to generate optimal walking trajectories for compass gait biped robots — a technically demanding problem involving swing-phase dynamics and collision modeling. Together, Zhang's body of work reflects a coherent research vision focused on intelligent motion planning across diverse robotic platforms, making meaningful contributions to the computational tools available for next-generation autonomous systems.