Papers
2
Total Citations
7
H-Index
2
About
Zewen He is a robotics researcher specializing in dynamic locomotion and whole-body control for legged robots. His work focuses on enabling humanoid and quadruped robots to perform complex, agile motions in challenging environments. He has made significant contributions to humanoid running by developing a novel control framework based on the 3D Center of Gravity-Zero Moment Point (COG-ZMP) model and Resolved Centroidal Viscoelasticity Control. This approach addresses the critical challenges of maintaining stability during the stance phase and ensuring precise foot placement during the flight phase, achieving dynamic motion that includes a flight phase—a notoriously difficult problem in humanoid robotics. His research on quadruped robots with manipulators introduces a whole-body synergy-based balance control strategy, enabling these systems to maintain stability on sloped terrains while performing manipulation tasks. This work is particularly impactful as it expands the operational capabilities of legged robots in real-world, uneven environments. With his papers accumulating citations from the robotics community, He’s work is laying the groundwork for more agile and versatile robots capable of navigating and interacting with complex terrains.
Research Focus
Key Achievements
Top Papers
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