1. 足式机器人: 两足、四足、六足机器人行走机理及控制方法

2. 机器人动力学: 基于旋量的通用机构动力学建模方法

3. 机器人力控制: 机器人恒力输出控制策略，机器人实时控制系统

1. 高等机构动力学

2. 机械电子学

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Pan, Y. and F. Gao (2013). Payload capability analysis of a new kind of parallel leg hexapod walking robot. Proceedings of the 2013 International Conference on Advanced Mechatronic Systems, IEEE.

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Pan, Y. and F. Gao (2014). Kinematic performance analysis for hexapod mobile robot using parallel mechanism. ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, American Society of Mechanical Engineers.

Pan, Y. and F. Gao (2014). Mechanism topology design for novel parallel-parallel hexapod robot. 2014 UKACC International Conference on Control (CONTROL), IEEE.

Pan, Y. and F. Gao (2014). “A new six-parallel-legged walking robot for drilling holes on the fuselage.” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228(4): 753-764.

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Yang, P. and F. Gao (2014). “Leg kinematic analysis and prototype experiments of walking-operating multifunctional hexapod robot.” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228(12): 2217-2232.

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Chai, X., et al. (2015). Autonomous gait planning for a hexapod robot in unstructured environments based on 3D terrain perception. The 14th International Federation for the Promotion of Mechanism and Machine Science World Congress (IFToMM), Taipei, Taiwan.

Pan, Y., et al. (2016). “Fault tolerance criteria and walking capability analysis of a novel parallel-parallel hexapod break walking robot.” Robotica 34(3): 619-633.

Pan, Y., et al. (2016). “Human-tracking strategies for a six-legged rescue robot based on distance and view.” Chinese Journal of Mechanical Engineering 29(2): 219-230.

Tian, Y., et al. (2016). Task-Based Control Strategies and the Implementation for a Six-Legged Multi-tasked Robot. Advances in Reconfigurable Mechanisms and Robots II, Springer: 939-950.

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Chen, Z.-J., et al. (2017). “Novel door-opening method for six-legged robots based on only force sensing.” Chinese Journal of Mechanical Engineering 30(5): 1227-1238.

Pan, Y. and F. Gao (2017). “Position model computational complexity of walking robot with different parallel leg mechanism topology patterns.” Mechanism and Machine Theory 107: 324-337.

Xu, Y., et al. (2017). “Hexapod adaptive gait inspired by human behavior for six-legged robot without force sensor.” Journal of Intelligent & Robotic Systems 88(1): 19-35.