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About

Zhaoheng Zeng is a robotics researcher whose work focuses on kinematic modeling, motion tracking, and modular robot design. His most significant contributions lie in the analysis and control of nonholonomic mobile robots, particularly two-wheeled vehicles like the Essboard. Zeng developed a kinematic model based on coordinate transformation to address the large steering errors caused by hysteresis in the Essboard’s passive wheel, a problem that had limited the precision of such robots. His work on this topic, published in 2018 and 2020, has garnered a combined 13 citations, establishing a foundation for further research in two-wheeled mobile robotics. Zeng has also advanced human-robot interaction by tackling the challenging problem of motion tracking for both hands under mutual occlusion, using a hybrid RGB-D camera and IMU system. Additionally, he contributed to industrial automation through the modular development of SCARA robots, which are widely used in automotive and electronics manufacturing. His symbolic derivation of bicycle kinematics with toroidal wheels, using Maple, provided new insights into holonomic and nonholonomic constraints. Zeng’s research bridges theoretical kinematics and practical robotic applications, offering valuable tools for students and researchers in mobile robotics and human-robot interaction.