publications

* denotes equal contribution. google scholar

2026

  1. Hippo: High-Performance Interior-Point and Projection-Based Solver for Generic Constrained Trajectory Optimization
    Haizhou Zhao, Ludovic Righetti, Majid Khadiv

    IEEE Robotics and Automation Letters, 2026

2025

  1. Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion
    Victor Dhédin, Haizhou Zhao, Majid Khadiv

    In 2025 IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2025
    arXiv PDF
  2. Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models
    Ilyass Taouil*, Haizhou Zhao*, Angela Dai, Majid Khadiv

    In 2025 IEEE-RAS International Conference on Humanoid Robots (Humanoids) (*Best Oral Paper Award Finalist*), 2025
    arXiv PDF
  3. A 2-DoF Switchable Variable Stiffness Actuator for Legged Walking Robots
    Lei Yu, Haizhou Zhao, Lin Qiao, Siying Qin, Gumin Jin, Yuqing Chen

    IEEE/ASME Transactions on Mechatronics (T-MECH), 2025

2024

  1. Trajectory Optimization under Contact Timing Uncertainties
    Haizhou Zhao, Majid Khadiv

    In 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024
    arXiv PDF
  2. Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot
    Zifan Wang, Yufei Jia, Lu Shi, Haoyu Wang, Haizhou Zhao, Xueyang Li, Jinni Zhou, Jun Ma, Guyue Zhou

    In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
    arXiv Website
  3. Design and Control of a Bio-Inspired Wheeled Bipedal Robot
    Haizhou Zhao, Lei Yu, Siying Qin, Gumin Jin, Yuqing Chen

    IEEE/ASME Transactions on Mechatronics (T-MECH), 2024
    arXiv PDF
  4. A Compact Variable Stiffness Actuator for Agile Legged Locomotion
    Lei Yu, Haizhou Zhao, Siying Qin, Gumin Jin, Yuqing Chen

    IEEE/ASME Transactions on Mechatronics (T-MECH), 2024
    arXiv PDF

2022

  1. Constrained Iterative Nonlinear Optimization for Robot Control Applications
    Haizhou Zhao, Yuqing Chen

    In 2022 27th International Conference on Automation and Computing (ICAC), 2022
    PDF