Zhenyu Gan

Assistant Professor

Mechanical and Aerospace Engineering

233 Link Hall


Areas of Expertise:

  • Robotics
  • Legged Locomotion
  • Gait analysis
  • Multibody Dynamics
  • Control

My research interests lie at the intersection of robotics and nonlinear dynamics. I study mechanical systems with interesting dynamical behavior and apply the resulting findings to the control of robots. Examples of this include the study of different gaits in legged robots, as well as wearable robotic devices.

Honors and Awards:

  • The First Prize in Design, Engineering Graduate Symposium Award (2013)
  • The First Prize in National Advanced Graphical Skills and Innovations Contest (2010)
  • National Scholarship, China (2009)

Selected Publications:

  • Ding J, Moore TY, Gan Z. A Template Model Explains Jerboa Gait Transitions Across a Broad Range of Speeds. Front Bioeng Biotechnol. 2022 Apr 27;10:804826. doi: 10.3389/fbioe.2022.804826. PMID: 35600899; PMCID: PMC9121427.
  • Gan Z, Yesilevskiy Y, Zaytsev P, Remy C. All common bipedal gaits emerge from a single passive model. Journal of The Royal Society Interface. 2018 September 26; 15(146):20180455-. Available from: https://royalsocietypublishing.org/doi/10.1098/rsif.2018.0455 DOI: 10.1098/rsif.2018.0455
  • Gan Z, Jiao Z, Remy C. On the Dynamic Similarity Between Bipeds and Quadrupeds: A Case Study on Bounding. IEEE Robotics and Automation Letters. 2018 October; 3(4):3614-3621. Available from: https://ieeexplore.ieee.org/document/8410025/ DOI: 10.1109/LRA.2018.2854923
  • Gan Z, Remy C. A passive dynamic quadruped that moves in a large variety of gaits. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014); ; Chicago, IL, USA. IEEE; c2014. Available from: http://ieeexplore.ieee.org/document/6943255/ DOI: 10.1109/IROS.2014.6943255
  • Gan Z, Wiestner T, Weishaupt M, Waldern N, David Remy C. Passive Dynamics Explain Quadrupedal Walking, Trotting, and Tölting. Journal of Computational and Nonlinear Dynamics. 2016 March 01; 11(2):-. Available from: https://asmedigitalcollection.asme.org/computationalnonlinear/article/doi/10.1115/1.4030622/472865/Passive-Dynamics-Explain-Quadrupedal-Walking DOI: 10.1115/1.4030622