Assistant Professor
233 Link Hall
zgan02@syr.edu
Lab/ Center/ Institute affiliation:
- Dynamic Locomotion and Robotics Lab, Syracuse University
- Form & Function Focus Group Leader, BioInspired Institute
- Senior Research Associate, Autonomous Systems Policy Institute
Areas of Expertise:
- Gait Analysis
- Legged Locomotion
- Robotics
- Multibody Dynamics
- Trajectory Optimization
Dr. Gan’s general research interests lie at the intersection of robotics and nonlinear dynamics. He enjoys studying systems with interesting dynamical behavior and applying the resulting knowledge to robotic systems such as legged robots and robotic exoskeletons.
Selected Publications:
- Alqaham, Yasser G., Jing Cheng, and Zhenyu Gan. “Energetic Analysis on the Optimal Bounding Gaits of Quadrupedal Robots.” arXiv preprint arXiv:2303.04861 (Accepted by RA-L 2024).
- Ding, Jiayu, and Zhenyu Gan. “Breaking symmetries leads to diverse quadrupedal gaits.” IEEE Robotics and Automation Letters (2024).
- Cheng, Jing, et al. “Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots.” 2023 American Control Conference (ACC). IEEE, 2023.
- Gan, Zhenyu, et al. “All common bipedal gaits emerge from a single passive model.” Journal of The Royal Society Interface 15.146 (2018): 20180455.
- Gan, Zhenyu, et al. “Passive dynamics explain quadrupedal walking, trotting, and tölting.” Journal of computational and nonlinear dynamics 11.2 (2016): 021008.