Chengye Wu

National University of Defense Technology

Papers

Total Citations

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About

Chengye Wu is a leading researcher in the field of legged robotics, with a primary focus on control systems, force estimation, and actuator dynamics for quadruped and multi-legged platforms. His work addresses one of the most persistent challenges in robotics: enabling stable, adaptive locomotion in unstructured environments without relying on expensive or fragile sensors. Wu’s most influential contribution is a novel contact force estimation method for legged robots, which eliminates the need for direct force sensing by using proprioceptive data and impedance control—a breakthrough that has garnered 52 citations and is widely referenced in the field. He further advanced the state of the art by developing a model predictive trajectory tracking controller for electro-hydraulic actuators, integrating a multi-scale online estimator to handle time-varying parameters and high-frequency disturbances, a paper with 26 citations. His research also explores balance control in quadruped robots using model predictive control to plan ground reaction forces during locomotion. Through these contributions, Wu has significantly improved the robustness, autonomy, and cost-effectiveness of legged robotic systems, making his work essential reading for researchers in dynamic locomotion and actuator control.