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About

Zhihang He is a robotics researcher whose work spans trajectory tracking, hybrid mechanism design, and intelligent locomotion for specialized robotic systems. His most influential contribution, "MPC-based high-speed trajectory tracking for 4WIS robot" (2021), has garnered 80 citations, demonstrating its significance in advancing model predictive control for four-wheel independent steering vehicles. He also developed a novel series-parallel hybrid robot for climbing transmission towers (2021, 15 citations), addressing critical challenges in power infrastructure maintenance through an innovative combination of adsorption and 3-DOF translational mechanisms. His research further extends to load balance control for high-voltage transmission line inspection robots, where he proposed a second-order sliding-mode strategy (2019, 6 citations) to mitigate uneven wheel loading—a persistent problem in overhead line inspection. Additionally, He has contributed to multi-axis synchronous motion control systems using CANopen protocol (2020, 5 citations) and optimization-based hexapod robot locomotion generation (2022), aiming to reduce design complexity while improving motion efficiency and accuracy. Through these works, He has made notable strides in field robotics, particularly for power grid inspection and maintenance, with his MPC-based trajectory tracking work standing as a key reference in the field.