Researcher Database

（Last updated : 2024-07-18 11:17:56）　

ZHENG YANQIU

Department / Course Research Organization of Science and Technology

Title / Position Senior Researcher

Academic background
1.	2020/10～2023/09	Doctoral Program (2nd Semester) │ Graduate School of Advanced Science and Technology │ Japan Advanced Institute of Science and Technology │ Completed Doctoral degree of Information Science

Business career
1.	2023/10 ～	Senior Researcher │ Research Organization of Science and Technology │ Ritsumeikan University

Research activities
1.	2023/05/01 ～	The Institute of Electrical and Electronics Engineers

Subject of research
1.	Dynamics analysis and gait generation of tensegrity legged robot

Research summary
locomotion of tensegrity robot The tensegrity structure is a stable, high-strength spatial mesh structure consisting of multiple independent compression units and tension units. Tensegrity robots leverage the advantages of this structure, allowing them to change their shape at will by controlling the internal tension. In this research, we focus on constructing a dynamic model of this system,highlighting the internal nonlinear dynamic characteristics and multiple steady-state properties. Our objective is to generate locomotion patterns, proposing general control theories to provide guidance for tensegrity robots.

Present specialized field
Mechanics and mechatronics, Robotics and intelligent system (Keyword：Tensegrity legged robot,Robot dynamics)

Papers
1.	2024/10	Modeling and Analysis of Passive Quadruped Walker with Compliant Torso on Low-friction Environment │ 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) │ (Co-authored)
2.	2024/10	Modeling and Gait Analysis of Passive Rimless Wheel with Compliant Feet │ 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) │ (Co-authored)
3.	2024/10	Stable Wheel Gait Generation for Planar X-shaped Walker with Telescopic Legs Based on Asymmetric Impact Posture │ 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) │ (Co-authored)
4.	2024/09	Analysis of Effect of Arm Swing on Performance of a Jumping Robot │ 8th International Symposium on Swarm Behavior and Bio-Inspired Robotics │ (Co-authored)
5.	2024/05	Modeling and Analysis of Combined Rimless Wheel with Tensegrity Spine │ 2024 IEEE International Conference on Robotics and Automation (ICRA) │ ,pp.8088-8093 (Co-authored)
Display All（29）

Winning science prize
1.	2023	ICARM2023 Best Conference Paper Finalist (Passive Dynamic Walking of A Novel Tensegrity Robot Combines Contradictory Properties: Stability and Flexibility)
2.	2022	ICARM2022 Best Conference Paper Finalist (Motion analysis of planar passive-dynamic walkers with different tensegrity structures formed by four rigid frames and eight viscoelastic elements)
3.	2021	CLAWAR2021 Best Student Paper (Analysis of passive dynamic gait of tensegrity robot)

Acquisition patent
1.	2022/11/22	A speed planning approach （ZL2019110212875）
2.	2022/03/22	A position synchronization method and device for robot arm transitions （ZL2018115129117）
3.	2021/07/23	The robot depalletizing method for irregular random materials （ZL2018116434460）
4.	2021/06/01	The robot side depalletizing method with the device for irregular random materials. （ZL2019106473779）
5.	2020/11/24	A conveyor system for robotic palletizing. （ZL2018115447035）
Display All（7）

E-Mail Address

External Researcher ID
ORCID ID
0000-0001-8518-4141