Publications

2026

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    Design, modeling, control, and evaluation of a wearable Centaur robot for load-carriage walking assistance
    Zhixin Tu, Yihao Jiang, Haoyun Yan, Yuquan Leng, and Chenglong Fu
    The International Journal of Robotics Research, 2026
    PDF Website

2024

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    Softening nonlinear-stiffness elastic mechanism with continuous adjustability for human–robot interaction force control
    Zhixin Tu, Haifeng Liu, Yihao Jiang, Tao Ye, Yuepeng Qian, Yuquan Leng, Jian S Dai, and Chenglong Fu
    Mechanism and Machine Theory, 2024
    PDF Website
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    Locomotion control on human-centaur system with spherical joint interaction
    Haoyun Yan, Jianquan Li, Haifeng Liu, Zhixin Tu, Ping Yang, Muye Pang, Yuquan Leng, and Chenglong Fu
    IEEE Robotics and Automation Letters, 2024
    Website

2023

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    Task-based human-robot collaboration control of supernumerary robotic limbs for overhead tasks
    Zhixin Tu, Yijun Fang, Yuquan Leng, and Chenglong Fu
    IEEE Robotics and Automation Letters (presented at ICRA 2024), 2023
    PDF Video Website
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    Accelerated Informed RRT*: fast and asymptotically path planning method combined with RRT*-connect and APF
    Zhixin Tu*, Wenbing Zhuang*, Yuquan Leng, and Chenglong Fu
    In International Conference on Intelligent Robotics and Applications, 2023
    PDF Website