publications

2025

1. Nat. Mach. Intell.

   Learning to Adapt through Bio-Inspired Gait Strategies for Versatile Quadruped Locomotion

   Joseph Humphreys and Chengxu Zhou

   Nature Machine Intelligence, 2025

   DOI Bib PDF Video Code

   @article{humphreys2025nmi,
     title = {Learning to Adapt through Bio-Inspired Gait Strategies for Versatile Quadruped Locomotion},
     author = {Humphreys, Joseph and Zhou, Chengxu},
     journal = {Nature Machine Intelligence},
     volume = {7},
     pages = {1141–-1153},
     year = {2025},
     doi = {10.1038/s42256-025-01065-z},
   }

2. Humanoids

   Gait-Conditioned Reinforcement Learning with Multi-Phase Curriculum for Humanoid Locomotion

   Tianhu Peng, Lingfan Bao, and Chengxu Zhou

   In IEEE-RAS International Conference on Humanoid Robots, 2025

   Bib PDF Video Website

   @inproceedings{peng2025humanoids,
     title = {Gait-Conditioned Reinforcement Learning with Multi-Phase Curriculum for Humanoid Locomotion},
     author = {Peng, Tianhu and Bao, Lingfan and Zhou, Chengxu},
     booktitle = {IEEE-RAS International Conference on Humanoid Robots},
     year = {2025},
   }

3. TII

   3D Fitts’ Law for Performance Prediction of Human-Machine Teaming

   Yuhui Wan and Chengxu Zhou

   IEEE Transactions on Industrial Informatics, 2025

   DOI Bib PDF Video

   @article{wan2025tii,
     title = {{3D Fitts'} Law for Performance Prediction of Human-Machine Teaming},
     author = {Wan, Yuhui and Zhou, Chengxu},
     journal = {IEEE Transactions on Industrial Informatics},
     volume = {21},
     number = {8},
     pages = {6365--6374},
     year = {2025},
     doi = {10.1109/TII.2025.3563553},
   }

2024

1. Eng. App. CFM

   Optimising Aerodynamic Drag for Enhanced Robotic Balancing

   Jingcheng Sun and Chengxu Zhou

   Engineering Applications of Computational Fluid Mechanics, 2024

   DOI Bib PDF

   @article{sun2024cfd,
     title = {Optimising Aerodynamic Drag for Enhanced Robotic Balancing},
     author = {Sun, Jingcheng and Zhou, Chengxu},
     journal = {Engineering Applications of Computational Fluid Mechanics},
     volume = {18},
     number = {1},
     pages = {2430659},
     year = {2024},
     doi = {10.1080/19942060.2024.2430659},
   }

2. Front. Robot. AI

   Advancing Teleoperation for Legged Manipulation with Wearable Motion Capture

   Chengxu Zhou, Yuhui Wan, Christopher Peers, Andromachi Maria Delfaki, and Dimitrios Kanoulas

   Frontiers in Robotics and AI, 2024

   DOI Bib Video

   @article{zhou2024teleman,
     title = {Advancing Teleoperation for Legged Manipulation with Wearable Motion Capture},
     author = {Zhou, Chengxu and Wan, Yuhui and Peers, Christopher and Delfaki, Andromachi Maria and Kanoulas, Dimitrios},
     journal = {Frontiers in Robotics and AI},
     volume = {11},
     pages = {1430842},
     year = {2024},
     doi = {10.3389/frobt.2024.1430842},
   }

3. TAROS

   Advancing Robotic Jumping with CVT Enhanced SEA

   Jingcheng Sun and Chengxu Zhou

   In Towards Autonomous Robotic Systems, Aug 2024

   DOI Bib PDF

   @inproceedings{sun2024taros,
     title = {Advancing Robotic Jumping with {CVT} Enhanced {SEA}},
     author = {Sun, Jingcheng and Zhou, Chengxu},
     booktitle = {Towards Autonomous Robotic Systems},
     month = aug,
     year = {2024},
     pages = {73--84},
     doi = {10.1007/978-3-031-72062-8_7},
   }

4. TAROS

   Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors

   Tianhu Peng, Lingfan Bao, Joseph Humphreys, Andromachi Maria Delfaki, Dimitrios Kanoulas, and Chengxu Zhou

   In Towards Autonomous Robotic Systems, Aug 2024

   DOI Bib PDF Video

   @inproceedings{peng2024taros,
     title = {Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors},
     author = {Peng, Tianhu and Bao, Lingfan and Humphreys, Joseph and Delfaki, Andromachi Maria and Kanoulas, Dimitrios and Zhou, Chengxu},
     booktitle = {Towards Autonomous Robotic Systems},
     month = aug,
     year = {2024},
     pages = {1--12},
     doi = {10.1007/978-3-031-72062-8_11},
   }

2023

1. RAL

   Bio-inspired Gait Transitions for Quadruped Locomotion

   Joseph Humphreys, Jun Li, Yuhui Wan, Haibo Gao, and Chengxu Zhou

   IEEE Robotics and Automation Letters, 2023

   DOI Bib PDF Video

   @article{humphreys2023ral,
     title = {Bio-inspired Gait Transitions for Quadruped Locomotion},
     author = {Humphreys, Joseph and Li, Jun and Wan, Yuhui and Gao, Haibo and Zhou, Chengxu},
     journal = {IEEE Robotics and Automation Letters},
     volume = {8},
     number = {10},
     pages = {6131-6138},
     doi = {10.1109/LRA.2023.3300249},
     year = {2023},
   }

2. THMS

   Performance and Usability Evaluation Scheme for Mobile Manipulator Teleportation

   Yuhui Wan, Jingcheng Sun, Christopher Peers, Joseph Humphreys, Dimitrios Kanoulas, and Chengxu Zhou

   IEEE Transactions on Human-Machine Systems, 2023

   DOI Bib PDF Video

   @article{wan2023thms,
     title = {Performance and Usability Evaluation Scheme for Mobile Manipulator Teleportation},
     author = {Wan, Yuhui and Sun, Jingcheng and Peers, Christopher and Humphreys, Joseph and Kanoulas, Dimitrios and Zhou, Chengxu},
     journal = {IEEE Transactions on Human-Machine Systems},
     volume = {53},
     number = {5},
     pages = {844-854},
     doi = {10.1109/THMS.2023.3289628},
     year = {2023},
   }

3. JINT

   High Utility Teleoperation Framework for Legged Manipulators Through Leveraging Whole-Body Control

   Joseph Humphreys, Christopher Peers, Jun Li, Yuhui Wan, and Chengxu Zhou

   Journal of Intelligent & Robotic Systems, 2023

   DOI Bib PDF Video

   @article{humphreys2023wbc,
     title = {High Utility Teleoperation Framework for Legged Manipulators Through Leveraging Whole-Body Control},
     author = {Humphreys, Joseph and Peers, Christopher and Li, Jun and Wan, Yuhui and Zhou, Chengxu},
     journal = {Journal of Intelligent \& Robotic Systems},
     volume = {108},
     number = {3},
     pages = {57},
     doi = {10.1007/s10846-023-01866-7},
     year = {2023},
   }