-Journals
| [J20] | Tianchen Huang; Feiyang Yuan; Junchi Gu; Shurui Fang; Xiaohu Zhang; Yu Wang*; Wei Gao*; Shiwu Zhang; "Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots," IEEE Robotics and Automation Letters, accepted. |
| [J19] | Yongming Yue; Yingrong Chen; Yixiao Zheng; Yu Wang*; Wei Gao*; Shiwu Zhang; "Angular Momentum LIP Guided Reinforcement Learning with Step Duration Modulation for Dynamic Locomotion of Bipedal Robots," IEEE Robotics and Automation Letters, accepted. |
| [J18] | Tianchen Huang; Mingkuan Zhao; Yang Gao; Feiyang Yuan; Junchi Gu; Xiaohu Zhang; Dongdong Zhao; Shi Yan; Yu Wang*; Wei Gao*; Shiwu Zhang; "Physics-Aware Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots," Journal of Bionic Engineering, accepted. |
| [J17] | Sisheng Chen; Changlin Chen; Jintao Chen; Yu Wang*; Shaoming Sun*; Wei Gao*; Erbao Dong*; Shiwu Zhang; "Adaptive Mask-Guided Multiscale Contrastive Learning Framework for Novel Class Discovery of Industrial Anomalies," IEEE Transactions on Industrial Informatics, accepted. |
| [J16] | Yiming Ouyang; Zelin Chen; He Chen; Min Xu; Hao Yang; Wei Gao*; Hu Jin*; Shiwu Zhang*; "Omnidirectional Shape Proprioception for Untethered Shape Memory Alloy-Driven Soft Robotic Arms," Advanced Intelligent Systems, e70464. |
| [J15] | Zhenyi Chai#; Wei Gao#; Jingwen Kong; Qiqiang Hu; Yiming Ouyang; Lei Zhang; Mengli Sui; Erbao Dong; Weihua Li; Hu Jin*; Shiwu Zhang*; "A Teleost-inspired Multimodal Locomotion Soft Robot with High Bandwidth Artificial Muscles," Soft Robotics, 2026, 13(2), 218-231. |
| [J14] | Shenglong Xie; Yu Lv; Shiwu Zhang; Wei Gao*; Shiyuan Bian*; "Movement Intention Decoding from Electromyographic Signals Using Deep Residual Networks and Bidirectional Long Short-Term Memory with Hybrid Attention," IEEE Sensors Journal, 2026, 26(2), 1621-1635. |
| [J13] | Bingliang Bao; Xiaoxin Yu; Erlong Wang; Deyang Chu; Wei Gao*; Yiming Ouyang; Chunyang Zhang; Wenbing Chen; Chen Wang; Hu Jin*; Shiwu Zhang; "Mechanical Specimen Preparation Method for Next-Generation Cotton Quality Testing Using HVIs," Industrial Crops and Products, 2025, 233:121455. |
| [J12] | Zelin Chen; Hanlu Chen; Yiming Ouyang*; Chenhao Cao; Wei Gao; Qiqiang Hu; Hu Jin*; Shiwu Zhang; "A High-Resolution and Whole-Body Dataset of Hand-Object Contact Areas Based on 3D Scanning Method," Scientific Data, 2025, 12:451. |
| [J11] | Bingliang Bao; Xiaoxin Yu; Erlong Wang; Deyang Chu; Wei Gao; Yiming Ouyang; Wenbing Chen; Chen Wang; Hu Jin*; Shiwu Zhang; "A Vibrating-Needle Based Non-Destructive Tearing Method for Mechanical Specimen Preparation in Length and Strength Testing of Cotton Fibers," Industrial Crops and Products, 2025, 225:120478. |
| [J10] | Chao Ji; Diyuan Liu; Wei Gao*; Shiwu Zhang*; "Learning-Based Locomotion Control Fusing Multimodal Perception for a Bipedal Humanoid Robot," Biomimetic Intelligence and Robotics, 2025, 5(1):100213. |
| [J09] | Chao Ji; Diyuan Liu; Wei Gao*; Shiwu Zhang*; "Robust Walking and Sim-To-Real Optimization for Quadruped Robots via Reinforcement Learning," Journal of Bionic Engineering, 2025, 22:107-117. |
| [J08] | Tonghui Peng; Wei Gao*; Ya Wu; Yulong Ma; Shiwu Zhang; Yinan Hu*; "Inducing Alternating Magnetic Fields for Real-Time Non-Contact Fault Localization Within Electric Energy Storage Component Arrays," Review of Scientific Instruments, 2024, 95(10):105111. |
| [J07] | Yuan Yao; Wei Gao*; Shixin Mao; Shiwu Zhang*; "Road Extraction From Point Cloud Data With Transfer Learning," IEEE Geoscience and Remote Sensing Letters, 2024, 21:6502005. |
| [J06] | Ze Yang; Hu Jin*; Wei Gao*; Erlong Wang; Yang Shu; Ming Wu; Shiwu Zhang; "Hierarchical Trajectory Deformation Algorithm with Hybrid Controller for Active Lower Limb Rehabilitation," IEEE Robotics and Automation Letters, 2024, 9(7):6240-6247. |
| [J05] | Yu Zhang#, Yuxiang Li#; Hefei Zhang; Yu Wang; Zhihao Wang; Yinong Ye; Yongming Yue; Ning Guo; Wei Gao*; Haoyao Chen*; Shiwu Zhang*; "Earthshaker: A Mobile Rescue Robot for Emergencies and Disasters through Teleoperation and Autonomous Navigation," Journal of University of Science and Technology of China, 2023, 53(1):4. |
| [J04] | Wei Gao; Paul R. Miles; Ralph C. Smith; William S. Oates*; "The Maximum Entropy Method for Data Fusion and Uncertainty Quantification in Multifunctional Materials and Structures," Journal of Intelligent Material Systems and Structures, 2022, 33(9):1182-1197. |
| [J03] | Sean Gart*; Ryan Alicea; Wei Gao; Jason Pusey; John V. Nicholson; Jonathan E. Clark; "Legged Locomotion in Resistive Terrains," Bioinspiration & Biomimetics, 2021, 16(2):025001. |
| [J02] | Ryan St Pierre#; Wei Gao#; Jonathan E. Clark; Sarah Bergbreiter*; "Viscoelastic Legs for Open-loop Control of Gram-scale Robots," Bioinspiration & Biomimetics, 2020, 15(5):055005. |
| [J01] | Wei Gao; Paul R. Miles; Adriane G. Moura; M. Yousuff Hussaini; William S. Oates*, "Uncertainty Analysis of Dielectric Elastomer Membranes under Electromechanical Loading," Smart Materials and Structures, 2019, 28(5):055027. |
-Conferences
| [C25] | Haoyang Ren; Runchen Xu; Yihang Wang; Yutong Jiang; Zhen Han; Yu Wang*; Wei Gao*; Shiwu Zhang; WLIP-WT Model Based MPC-VMC Hierarchical Control for Wheeled Biped Robots, in 2025 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1068-1075. |
| [C24] | Yihang Wang; Runchen Xu; Haoyang Ren; Yu Wang*; Wei Gao*; Shiwu Zhang; Robust Adaptive Model Predictive Control for Wheel-Legged Robots Under Unknown Loads, in 2025 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2325-2331. |
| [C23] | Anji Lin; Chunyang Zhang; Han Wang; Junli Liu; Yu Wang*; Wei Gao*; Shiwu Zhang; PUSTN: A Prediction Uncertainty-Aware Spatio-Temporal Dynamic Navigation Framework, in 2025 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 582-589. |
| [C22] | Jialong Xue; Wei Gao*; Yu Wang*; Chao Ji; Dongdong Zhao; Shi Yan; Shiwu Zhang; High-precision Transformer-Based Visual Servoing for Humanoid Robots in Aligning Tiny Objects, in 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 11374-11380. |
| [C21] | Chao Ji; Diyuan Liu; Wei Gao*; Shiwu Zhang*; Robust and Efficient Walking of a Bipedal Humanoid Robot via Reinforcement Learning, in 2025 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 381-388. (Best Paper in Robotics Award) |
| [C20] | Jiangtao Hu; Wei Gao*; Xiaohu Zhang; Jinyu Cheng; Shiwu Zhang*; Predictive Control of a Spined Quadrupedal Robot Based on a Dual Rigid-Body Model, in 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 292-298. |
| [C19] | Kaicen Li; Wei Gao*; Shiwu Zhang*; Rapid Learning of Natural Gaits for Quadrupedal Locomotion and Skill Reuse in Downstream Tasks, in 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2330-2336. |
| [C18] | Tengda Wang; Yuewei Zhu; Xiaohu Zhang; Wei Gao*; Shiwu Zhang*; A Telepresense Enhancing Method Based on Human Arm Dynamics, in 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1415-1421. |
| [C17] | Hefei Zhang#; Xiaohu Zhang#; Jinyu Cheng; Jiangtao Hu; Chao Ji; Yu Wang; Yutong Jiang; Zhen Han; Wei Gao*; Shiwu Zhang*; Torque Ripple Reduction in Quasi-Direct Drive Motors Through Angle-Based Repetitive Learning Observer and Model Predictive Torque Controller, in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3546-3552. |
| [C16] | Jichao Wang#; Jinyu Cheng#; Jiangtao Hu; Wei Gao*; Shiwu Zhang*; Spined Torso Renders Advanced Mobility for Quadrupedal Locomotion, in 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 1457-1463. |
| [C15] | Yu Liao; Wei Gao*; Shixin Mao; Shiwu Zhang; An Incremental Few Shot Approach for Litter Detection, in 2024 ACM 3rd Asia Conference on Algorithms, Computing and Machine Learning (CACML), pp. 245-250. |
| [C14] | Yinong Ye; Yongming Yue; Wei Gao*; Shiwu Zhang*; Decoupled Control of Bipedal Locomotion Based on HZD and H-LIP, in 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1-6. (T.J. Tarn Best Paper Award in Robotics Finalist) |
| [C13] | Xinyi Li; Wei Gao*; Xiangpeng Li; Shiwu Zhang*; Terrain-guided Symmetric Locomotion Generation for Quadrupedal Robots via Reinforcement Learning, in 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1-6. |
| [C12] | Lingjian Mao; Wei Gao*; Haoyao Chen; Shiwu Zhang*; LIO-DOR: A Robust LiDAR Inertial Odometry with Real-time Dynamic Object Removal, in 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1-7. |
| [C11] | Ziqi Li; Wei Gao*; Haoyao Chen; Shiwu Zhang*; USP-SLAM: Deep Learning Based Visual SLAM with Robust Feature Extraction under Dynamic Environments, in 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1-6. |
| [C10] | Chao Ji; Diyuan Liu; Wei Gao*; Shiwu Zhang*; Blind Walking Balance Control and Disturbance Rejection of the Bipedal Humanoid Robot Xiao-Man via Reinforcement Learning, in 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1-7. (T.J. Tarn Best Paper Award in Robotics Finalist) |
| [C09] | Chao Ji; Diyuan Liu; Mingxin Zhou; Wei Gao; Shiwu Zhang*; A Learning-based Motion Control Policy Fusing Multi-mode Perception for Legged Robot, in 2023 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 378-383. |
| [C08] | Yu Zhang; Yongming Yue; Yingrong Chen; Haoyao Chen; Wei Gao*; Shiwu Zhang; Payload Quantification via Proprioceptive-only Sensing for a Single-legged Vertical Hopper, in 2022 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 670-675. |
| [C07] | Yongming Yue; Yu Zhang; Wei Gao*; Shiwu Zhang; Workload-adaptive Vertical Hopping of a Single-legged Robot using Model-based Optimization," in 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 281-286. |
| [C06] | Ning Guo; Zujun Bai; Wei Gao*; Haoyao Chen; Shiwu Zhang; Passively Deformable Flipper Legs for an Amphibious Quadruped, in 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 738-743. |
| [C05] | Jacob Hackett; Wei Gao; Monica Daley; Jonathan Clark; Christian Hubicki*; Risk-constrained Motion Planning for Robot Locomotion: Formulation and Running Robot Demonstration, in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3633-3640. |
| [C04] | Wei Gao, Charles Young; John Nicholson; Christian Hubicki; Jonathan Clark*; Fast, Versatile, and Open-loop Stable Running Behaviors with Proprioceptive-only Sensing Using Model-based Optimization, in 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 483-489. |
| [C03] | Wei Gao; Williams S. Oates*; Paul R. Miles; Ralph C. Smith; Application of the Maximum Entropy Method to Multifunctional Materials for Data Fusion and Uncertainty Quantification, in ASME Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2018, vol. 51951, p. V002T08A003. |
| [C02] | Wei Gao; Williams S. Oates*; Ralpha C. Smith; A Maximum Entropy Approach for Uncertainty Quantification and Analysis of Multifunctional Materials, in ASME Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2017, vol. 58257, p. V001T08A013. |
| [C01] | Williams Oates*; Paul Miles, Wei Gao, Jonathan Clark; Somayeh Mashayekhi; M. Yousuff Hussaini; Rate Dependent Constitutive Behavior of Dielectric Elastomers and Applications in Legged Robotics, in SPIE Electroactive Polymer Actuators and Devices (EAPAD) 2017, vol. 10163, p. 1016316. |
-Preprints
| [PP07] | Tianchen Huang; Mingkuan Zhao; Yang Gao; Feiyang Yuan; Junchi Gu; Xiaohu Zhang; Dongdong Zhao; Shi Yan; Yu Wang*; Wei Gao*; Shiwu Zhang; Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots, arXiv preprint, arXiv: 2603.03536. |
| [PP06] | Tianchen Huang; Feiyang Yuan; Junchi Gu; Shurui Fang; Xiaohu Zhang; Yu Wang*; Wei Gao*; Shiwu Zhang; Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots, arXiv preprint, arXiv: 2606.03476. |
| [PP05] | Shuo Shao; Tianchen Huang; Wei Gao*; Shiwu Zhang*; ADAPT: Adaptive Dual-projection Architecture for Perceptive Traversal, arXiv preprint, arXiv: 2603.16328. |
| [PP04] | Junchi Gu; Feiyang Yuan; Weize Shi; Tianchen Huang; Xiaohu Zhang; Yu Wang*; Wei Gao*; Shiwu Zhang; SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles, arXiv preprint, arXiv: 2601.04948. |
| [PP03] | Tianchen Huang; Runchen Xu; Yu Wang*; Wei Gao*; Shiwu Zhang; Traversing Narrow Paths: A Two-Stage Reinforcement Learning Framework for Robust and Safe Humanoid Walking, arXiv preprint, arXiv: 2508.20661. |
| [PP02] | Jialong Xue; Wei Gao*; Yu Wang*; Chao Ji; Dongdong Zhao; Shi Yan; Shiwu Zhang; High-Precision Transformer-Based Visual Servoing for Huamnoid Robots in Aligning Tiny Objects, arXiv preprint, arXiv: 2503.04862. |
| [PP01] | Tonghui Peng; Wei Gao*; Ya Wu; Yulong Ma; Shiwu Zhang; Yinan Hu*; A Real-time Non-contact Localization Method for Faulty Electric Energy Storage Components Using Highly Sensitive Magnetometers, arXiv preprint, arXiv: 2308.07708. |
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