Biped Robot Walking Control with Centrodial Angular Momentum Preview. - Zhicheng He 002; Songhao Piao; Xiaokun Leng 001; Lin Chang 001; Song Wang (ICARM, 2020)

Anti-push Method of Biped Robot Based on Motion Capture Point and Reinforcement Learning. - Song Wang; Songhao Piao; Xiaokun Leng 001; Lin Chang 001; Zhicheng He 002 (ICARM, 2020)

Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic Programming. - Xiaokun Leng 001; Songhao Piao; Lin Chang 001; Zhicheng He 002; Zheng Zhu (Complex., 2020)

Inverted pendulum model for turn-planning for biped robot. - Lin Chang 001; Songhao Piao; Xiaokun Leng 001; Zhicheng He 002; Zheng Zhu (Phys. Commun., 2020)

Dynamic running hexapod robot based on high-performance computing. - Xiaokun Leng 001; Songhao Piao; Lin Chang 001; Zhicheng He 002; Zheng Zhu (J. Supercomput., 2020)

Parameter design of biped robot motion system based on multi-objective optimization. - Xiaokun Leng 001; Songhao Piao; Lin Chang 001; Zhicheng He 002; Zheng Zhu (J. Intell. Fuzzy Syst., 2021)

Kid-size robot humanoid walking with heel-contact and toe-off motion. - Yucong Wu; Yang Pan; Xiaokun Leng 002; Zhicheng He 002 (PeerJ Comput. Sci., 2022)

Uneven Terrain Walking with Linear and Angular Momentum Allocation. - Zhicheng He 002; Songhao Piao; Xiaokun Leng 001; Yucong Wu (Sensors, 2023)

Learning 3D Bipedal Walking with Planned Footsteps and Fourier Series Periodic Gait Planning. - Song Wang; Songhao Piao; Xiaokun Leng 001; Zhicheng He 002 (Sensors, 2023)

PR2: A Physics- and Photo-realistic Testbed for Embodied AI and Humanoid Robots. - Hangxin Liu; Qi Xie; Zeyu Zhang 001; Tao Yuan; Xiaokun Leng 001; Lining Sun; Song-Chun Zhu; Jingwen Zhang; Zhicheng He 002; Yao Su 001 (CoRR, 2024)

Learning Responsive Humanoid Motion Skills From Graph-Powered Motion Matching. - Song Wang; Songhao Piao; Xiaokun Leng 001; Zhicheng He 002 (IEEE Trans. Consumer Electron., 2024)

CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping. - Zhicheng He 002; Jiayang Wu; Jingwen Zhang; Shibowen Zhang; Yapeng Shi; Hangxin Liu; Lining Sun; Yao Su 001; Xiaokun Leng 001 (IEEE Robotics Autom. Lett., 2024)

Robust Dynamic Walking for Humanoid Robots via Computationally Efficient Footstep Planner and Whole-Body Control. - Xiangji Wang; Wei Guo 015; Teng Zhang; Weicong Zheng; Zhicheng He 002; Fusheng Zha; Pengfei Wang 001; Lining Sun (J. Intell. Robotic Syst., 2025)