Agile Locomotion & Bio-Inspired Dynamics

I study control and mechanical strategies that improve the agility, stability, and robustness of legged robots. This theme spans dynamic locomotion, aerial reorientation, safe landing, and bio-inspired appendages such as tails and reaction structures.

Selected Publications

Nonlocomotory Robotic Strategies for Dynamic Rotation Control in Terrestrial Robots: A Review

Advanced Robotics Research, 2026

Bio-Inspired Soft Variable-Stiffness Prehensile Tail Enabling Versatile Grasping and Enhancing Dynamic Mobility

IEEE Robotics and Automation Letters, 2025

From Behavior to Bio-Inspiration: Aerial Reorientation and Multi-Plane Stability in Kangaroo Rats, Computational Models, and Robots

Integrative and Comparative Biology, 2024

Legged Robot Running on Rough Terrains Based on Norm Regulation of Spring-Loaded Inverted Pendulum Model

IEEE-RAS Humanoids, 2023

Combining Tail and Reaction Wheel for Underactuated Spatial Reorientation in Robot Falling With Quadratic Programming

IEEE Robotics and Automation Letters, 2023

Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail

IEEE ICRA, 2023

Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control

IEEE-RAS Humanoids, 2021