Publications
Manuscript
• H. Wang*, W. Zhang*, R. Yu*, T. Huang, J. Ren, F. Jia, Z. Wang, X. Niu, X. Chen, J. Chen, Q. Chen, J. Wang and J. Pang, PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System.
Journal Paper
• W. Zhang, S. Xu, G. Zuo, B. Li, J. Wang, and L. Zhu, Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot. arxiv.
• B. Li, W. Zhang, X. Huang, L. Zhu, and H. Ding, A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots, IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 9774–9781, Oct. 2025.
• K. Liu, L. Dong, X. Tan, W. Zhang, and L. Zhu, Optimization-Based Flocking Control and MPC-Based Gait Synchronization Control for Multiple Quadruped Robots, IEEE Robotics and Automation Letters, vol. 9, no. 2, pp. 1929–1936, Feb. 2024.
Conference Papers
• W. Zhang, S. Xu, P. Cai, and L. Zhu, Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness, in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024, pp. 8839–8846. arxiv
• S. Xu, W. Zhang, and L. Zhu, KLILO: Kalman Filter based LiDAR-Inertial-Leg Odometry for Legged Robots, in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024, pp. 12487–12492.
• S. Xu, W. Zhang, C. P. Ho, and L. Zhu, Optimal Prescribed-Time Control based Reactive Planning System for Quadruped Robot Navigation, in 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan: IEEE, May 2024, pp. 13185–13191.
• S. Xu, Y. Wang, W. Zhang, C. P. Ho, and L. Zhu, Observer-based Distributed MPC for Collaborative Quadrotor-Quadruped Manipulation of a Cable-Towed Load, in 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan: IEEE, May 2024, pp. 4591–4597.(Finalist for the Best Conference Paper Award, the Best Student Paper Award, and the Best Paper Award on Multi-Robot Systems)
• S. Xu, H. Ruan, W. Zhang, Y. Wang, L. Zhu, and C. P. Ho, Distributionally Robust Chance Constrained Trajectory Optimization for Mobile Robots within Uncertain Safe Corridor, in 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan: IEEE, May 2024, pp. 88–94.
• S. Xu, W. Zhang, L. Zhu, and C. P. Ho, Distributed Model Predictive Formation Control with Gait Synchronization for Multiple Quadruped Robots, in 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom: IEEE, May 2023, pp. 9995–10002.