Papers
32
Total Citations
574
H-Index
15
About
Haitao Yu is a robotics researcher whose work spans legged locomotion control, mobile robot navigation, and cable-driven parallel systems. He is perhaps best known for his pioneering contributions to Central Pattern Generator (CPG)-based locomotion frameworks for hexapod walking robots — a body of work that has collectively accumulated well over 200 citations. His landmark 2016 paper on smooth gait transition using CPG-based control (73 citations) introduced an elegant analytical approximation of the Van der Pol oscillator, providing a foundational tool for biologically inspired robot motion. Building on this, Yu extended his frameworks to incorporate sensory feedback for adaptive behavior and optimized force distribution strategies to tackle the persistent challenge of energy efficiency in legged systems. Beyond legged robotics, Yu has made meaningful contributions to wheeled mobile robot trajectory tracking through active disturbance rejection control, and to the biomechanically inspired spring-loaded inverted pendulum (SLIP) model for characterizing legged locomotion dynamics. His more recent work explores cable-driven parallel robots and reinforcement learning-based jump control for asteroid-exploration quadrupeds, demonstrating a broad and evolving research vision. Across his career, Yu has consistently bridged theoretical modeling and practical robotic implementation, making his work valuable to both researchers and engineers advancing autonomous robot systems.
Research Focus
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- 10A CPG-based locomotion control architecture for hexapod robot20 citations · 2013