Zhenkun Lin

About

Zhenkun Lin is a robotics researcher whose work spans rescue robotics, biped locomotion, and dexterous manipulation, with a consistent focus on bridging biological inspiration with practical engineering solutions. His most widely cited contribution, a 2016 study on multi-linked rescue robots (20 citations), introduced novel cutting and jacking robots designed to penetrate rubble and create safe spaces for survivors in post-earthquake scenarios — addressing a critical gap in disaster response technology. Lin has made substantial contributions to biped robot development, exploring human-like walking gaits with heel-off and toe support, bio-inspired knee joints driven by pneumatic artificial muscles, and pneumatic stiffness-adjustable foot systems that improve stability on uneven terrain. His research on hysteresis compensation in pneumatic muscle-actuated joints demonstrates a rigorous approach to overcoming nonlinear control challenges. More recently, Lin has extended his expertise into robotic manipulation, investigating force/torque sensor-based object reorientation with two-fingered grippers (11 citations) and multiphase trajectory generation for enhanced bipedal stability. Collectively, his work reflects a sustained commitment to making robots more capable, adaptable, and biologically informed — contributions that continue to influence researchers working at the intersection of biomechanics and advanced robotics.

Research Focus

Key Achievements

Top Papers

1. 1
   Two multi-linked rescue robots: design, construction and field tests

   20 citations · 2016
2. 2
   Status Identification and Object In-Hand Reorientation Using Force/Torque Sensors

   11 citations · 2021
3. 3
   Human-Like Walking with Heel Off and Toe Support for Biped Robot

   11 citations · 2017
4. 4
   Position control of a bio-inspired semi-active joint with direct inverse hysteresis modeling and compensation

   8 citations · 2016
5. 5
   Multiphase Trajectory Generation for Planar Biped Robot Using Direct Collocation Method

   6 citations · 2021
6. 6
   A bio-inspired knee joint for biped robots

   6 citations · 2016
7. 7
   Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground

   6 citations · 2017
8. 8
   Design and control of a pneumatic-driven biomimetic knee joint for biped robot

   4 citations · 2017
9. 9
   Concept and design of a lightweight biped robot for walking on rough terrain

   4 citations · 2017
10. 10
    The development of pneumatic stiffness-adjustable foot for bipedal robot

    3 citations · 2017

Key Collaborators

Contact & Links