Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum. - Shunpeng Yang; Hua Chen 007; Luyao Zhang; Zhefeng Cao; Patrick M. Wensing; Yizhang Liu; Jianxin Pang; Wei Zhang 013 (ICRA, 2021)

Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots. - Shunpeng Yang; Hua Chen 007; Zhen Fu; Wei Zhang 013 (IROS, 2021)

Improved Task Space Locomotion Controller for a Quadruped Robot with Parallel Mechanisms. - Shunpeng Yang; Wenchun Lin; Jaeho Noh; Cheng Luo; Bill Huang; Wei Zhang 013; Hua Chen 007 (IROS, 2022)

Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. - Guillermo A. Castillo; Bowen Weng; Shunpeng Yang; Wei Zhang 013; Ayonga Hereid (IROS, 2023)

Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance. - Hua Chen 007; Zejun Hong; Shunpeng Yang; Patrick M. Wensing; Wei Zhang 013 (IEEE Trans. Robotics, 2023)

Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion. - Shunpeng Yang; Zejun Hong; Sen Li; Patrick M. Wensing; Wei Zhang 013; Hua Chen 007 (IROS, 2024)

Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion. - Shunpeng Yang; Zhen Fu; Zhefeng Cao; Junde Guo; Patrick M. Wensing; Wei Zhang 013; Hua Chen 007 (CoRR, 2025)