Zihan Cheng

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About

Zihan Cheng is a robotics researcher whose work centers on the design and control of novel locomotion systems for quadruped robots, with a particular focus on deformable wheel mechanisms. Their most notable contribution, presented in the 2023 paper "R-Taichi: A Quadruped Robot with Deformed Wheels," introduces an innovative robot that seamlessly integrates three distinct locomotion modes—wheel mode for efficient travel, RHex mode for navigating uneven terrain at varying heights, and leg mode for more complex maneuvers. This is achieved through a simple yet effective link mechanism and a motor-relative control installation that optimizes performance. Although early in their career, with the R-Taichi paper already garnering 6 citations, Cheng's work represents a significant step toward more versatile and adaptable robotic platforms. By bridging the gap between wheeled and legged locomotion, their research offers promising applications in search-and-rescue, exploration, and other environments requiring robust mobility. Cheng’s contributions are laying the groundwork for future innovations in multi-modal robotic design.