Manuscript

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• Wentao Zhang, Zhaoqi Ma, Jinjie Li, Huayi Wang, Haokun Liu, Junichiro Sugihara, Chen Chen, Yicheng Chen, and Moju Zhao, Learning Agile and Robust Omnidirectional Aerial Motion on Overactuated Tiltable-Quadrotors. Jan. 2026. arxiv.
• Huayi Wang*, Wentao Zhang*, Runyi Yu*, Tao Huang, Junli Ren, Feiyu Jia, Zirui Wang, Xiaojie Niu, Xiao Chen, Jiahe Chen, Qifeng Chen, Jingbo Wang, and Jiangmiao Pang, PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System, Sep. 2025. arxiv.

Journal Paper

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• Wentao Zhang, Shaohang Xu, Gewei Zuo, Bolin Li, Jingbo Wang, and Lijun Zhu, Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot, IEEE Robotics and Automation Letters, vol. 11, no. 1, pp. 354–361, Jan. 2026. arxiv
• Bolin Li, Wentao Zhang, Xuecong Huang, Lijun Zhu, and Han 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.
• Kaige Liu, Lijing Dong, Xin Tan, Wentao Zhang, and Lijun 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

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• Wentao Zhang, Shaohang Xu, Peiyuan Cai, and Lijun 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
• Qingwei Ben, Botian Xu, Kailin Li, Feiyu Jia, Wentao Zhang, Jingping Wang, Jingbo Wang, Dahua Lin, and Jiangmiao Pang, Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3-D Constrained Terrains, in 2026 Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Jun. 2026, pp. 28086-28095. arxiv
• Tao Huang, Huayi Wang, Junli Ren, Kangning Yin, Zirui Wang, Xiao Chen, Feiyu Jia, Wentao Zhang, Junfeng Long, Jingbo Wang, and Jiangmiao Pang, Towards Adaptable Humanoid Control via Adaptive Motion Tracking, in 2026 IEEE International Conference on Robotics and Automation (ICRA), Vienna, Austria, Jun. 2026. arxiv
• Shaohang Xu, Wentao Zhang, and Lijun 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.
• Shaohang Xu, Wentao Zhang, Chin Pang Ho, and Lijun 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.
• Shaohang Xu, Yi’an Wang, Wentao Zhang, Chin Pang Ho, and Lijun 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)
• Shaohang Xu, Haolin Ruan, Wentao Zhang, Yi’an Wang, Lijun Zhu, and Chin Pang 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.
• Shaohang Xu, Wentao Zhang, Lijun Zhu, and Chin Pang 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.