Publications

2025

1. 

   Learning to adapt through bio-inspired gait strategies for versatile quadruped locomotion

   Joseph Humphreys and Chengxu Zhou

   Nature Machine Intelligence, 2025

   DOI Bib Video Code

   @article{humphreys2025learning,
     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},
     number = {7},
     pages = {1141--1153},
     year = {2025},
     publisher = {Nature Publishing Group UK London},
     doi = {https://doi.org/10.1038/s42256-025-01065-z},
   }

2024

1. 

   Deep reinforcement learning for bipedal locomotion: A brief survey

   Lingfan Bao, Joseph Humphreys, Tianhu Peng, and 1 more author

   arXiv preprint arXiv:2404.17070, 2024

   DOI arXiv Bib

   @article{bao2024deep,
     title = {Deep reinforcement learning for bipedal locomotion: A brief survey},
     author = {Bao, Lingfan and Humphreys, Joseph and Peng, Tianhu and Zhou, Chengxu},
     journal = {arXiv preprint arXiv:2404.17070},
     year = {2024},
     doi = {https://doi.org/10.48550/arXiv.2404.17070},
   }

2. 

   Learning bipedal walking on a quadruped robot via adversarial motion priors

   Tianhu Peng, Lingfan Bao, Joseph Humphreys, and 3 more authors

   In Annual Conference Towards Autonomous Robotic Systems, 2024

   DOI Bib Video

   @inproceedings{peng2024learning,
     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 = {Annual Conference Towards Autonomous Robotic Systems},
     pages = {118--129},
     year = {2024},
     organization = {Springer},
     doi = {https://doi.org/10.1007/978-3-031-72062-8_11},
   }

2023

1. 

   Performance and usability evaluation scheme for mobile manipulator teleoperation

   Yuhui Wan, Jingcheng Sun, Christopher Peers, and 3 more authors

   IEEE Transactions on Human-Machine Systems, 2023

   DOI Bib Video

   @article{wan2023performance,
     title = {Performance and usability evaluation scheme for mobile manipulator teleoperation},
     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},
     year = {2023},
     publisher = {IEEE},
     doi = {10.1109/THMS.2023.3289628},
   }

2. 

   Bio-inspired gait transitions for quadruped locomotion

   Joseph Humphreys, Jun Li, Yuhui Wan, and 2 more authors

   IEEE Robotics and Automation Letters, 2023

   DOI Bib Video

   @article{humphreys2023bio,
     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},
     year = {2023},
     publisher = {IEEE},
     doi = {10.1109/LRA.2023.3300249},
   }

3. 

   High utility teleoperation framework for legged manipulators through leveraging whole-body control

   Joseph Humphreys, Christopher Peers, Jun Li, and 2 more authors

   Journal of Intelligent & Robotic Systems, 2023

   DOI Bib Video

   @article{humphreys2023high,
     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},
     year = {2023},
     publisher = {Springer},
     doi = {https://doi.org/10.1007/s10846-023-01866-7},
   }

2022

1. 

   Whole-body control for a torque-controlled legged mobile manipulator

   Jun Li, Haibo Gao, Yuhui Wan, and 4 more authors

   In Actuators, 2022

   DOI Bib

   @inproceedings{li2022whole,
     title = {Whole-body control for a torque-controlled legged mobile manipulator},
     author = {Li, Jun and Gao, Haibo and Wan, Yuhui and Humphreys, Joseph and Peers, Christopher and Yu, Haitao and Zhou, Chengxu},
     booktitle = {Actuators},
     volume = {11},
     number = {11},
     pages = {304},
     year = {2022},
     organization = {MDPI},
     doi = {https://doi.org/10.3390/act11110304},
   }

2. 

   Teleoperating a legged manipulator through whole-body control

   Joseph Humphreys, Christopher Peers, Jun Li, and 4 more authors

   In Annual Conference Towards Autonomous Robotic Systems, 2022

   DOI Bib Video

   @inproceedings{humphreys2022teleoperating,
     title = {Teleoperating a legged manipulator through whole-body control},
     author = {Humphreys, Joseph and Peers, Christopher and Li, Jun and Wan, Yuhui and Sun, Jingcheng and Richardson, Robert and Zhou, Chengxu},
     booktitle = {Annual Conference Towards Autonomous Robotic Systems},
     pages = {63--77},
     year = {2022},
     organization = {Springer},
     doi = {https://doi.org/10.1007/978-3-031-15908-4_6},
   }

3. 

   Benchmarking dynamic balancing controllers for humanoid robots

   Juan A Castano, Joseph Humphreys, Enrico Mingo Hoffman, and 3 more authors

   Robotics, 2022

   DOI Bib Video

   @article{castano2022benchmarking,
     title = {Benchmarking dynamic balancing controllers for humanoid robots},
     author = {Castano, Juan A and Humphreys, Joseph and Mingo Hoffman, Enrico and Fern{\'a}ndez Talavera, Noelia and Rodriguez Sanchez, Maria Cristina and Zhou, Chengxu},
     journal = {Robotics},
     volume = {11},
     number = {5},
     pages = {114},
     year = {2022},
     publisher = {MDPI},
     doi = {https://doi.org/10.3390/robotics11050114},
   }

4. 

   Teleoperation of a legged manipulator for item disposal

   J Humphrey, Christopher Peers, Yuhui Wan, and 2 more authors

   In UKRAS22 Conference “Robotics for Unconstrained Environments” Proceedings, 2022

   Bib HTML Video

   @inproceedings{humphrey2022teleoperation,
     title = {Teleoperation of a legged manipulator for item disposal},
     author = {Humphrey, J and Peers, Christopher and Wan, Yuhui and Richardson, Robert and Zhou, Chengxu},
     booktitle = {UKRAS22 Conference “Robotics for Unconstrained Environments” Proceedings},
     pages = {44--45},
     year = {2022},
     organization = {EPSRC UK-Robotics and Autonomous Systems (UK-RAS) Network},
   }

5. 

   Trigger-Assisted Ambidextrous Control Framework for Teleoperation of Two Legged Manipulators

   Christopher Peers, Joseph Humphreys, Yuhui Wan, and 4 more authors

   In Annual Conference Towards Autonomous Robotic Systems, 2022

   DOI Bib Video

   @inproceedings{peers2022trigger,
     title = {Trigger-Assisted Ambidextrous Control Framework for Teleoperation of Two Legged Manipulators},
     author = {Peers, Christopher and Humphreys, Joseph and Wan, Yuhui and Li, Jun and Sun, Jingcheng and Richardson, Robert and Zhou, Chengxu},
     booktitle = {Annual Conference Towards Autonomous Robotic Systems},
     pages = {50--62},
     year = {2022},
     organization = {Springer},
     doi = {https://doi.org/10.1007/978-3-031-15908-4_5},
   }