Hierarchical Optimization-Based Hybrid Whole-Body Control for Wheel-Legged Robots. - Yunpeng Liang; Fulong Yin; Zhihui Peng; Yanzheng Zhao; Weixin Yan (ICIRA (4), 2024)

Reduced-Dimensional Whole-Body Control Based on Model Simplification for Bipedal Robots With Parallel Mechanisms. - Yunpeng Liang; Fulong Yin; Zhen Li; Zhilin Xiong; Zhihui Peng; Yanzheng Zhao; Weixin Yan (IEEE Robotics Autom. Lett., 2025)