Zhenyuan Fu

Papers

Total Citations

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About

Zhenyuan Fu is a robotics researcher whose work centers on state estimation and odometry for legged systems, with a particular focus on bipedal robots. His major contribution, the LIKO framework—LiDAR, Inertial, and Kinematic Odometry—integrates data from multiple sensing modalities through a tightly-coupled iterated extended Kalman filter. This approach enables high-frequency, accurate state estimation even under the dynamic and contact-rich conditions unique to biped locomotion. Notably, Fu’s model goes beyond traditional odometry by also estimating foot contact positions, a critical factor for stable walking and balancing. Though published in 2024, LIKO has already garnered 6 citations, signaling its immediate relevance in the growing field of legged robot autonomy. Fu’s work bridges the gap between classical inertial-LiDAR fusion and the specific kinematic constraints of humanoid robots, offering a practical solution for real-time control. His research is particularly valuable for students and engineers working on robust localization in unstructured environments, where traditional wheeled or aerial odometry fails.