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Yan Gu

image of Gu Yan
Yan Gu, Ph.D. Assistant Professor, Scientific Lead in Locomotion and Control, NERVE Center
  • College
    Francis College of Engineering
  • Department
    Mechanical Engineering
  • Phone
    (978) 934-5482
  • Office
    Dandeneau Hall - 205
  • Email
  • Profile Links


Nonlinear control, hybrid systems, legged robots, exoskeletons, human biomechanical modeling

Research Interests

Robotic locomotion, Legged robots, Nonlinear controls, Dynamic modeling, Hybrid systems, Multi-agent coordination, Energy optimization, Human walking, Robot-assisted rehabilitation, Underactuation, Mechatronics.


  • Ph D: Mechanical Engineering, (2017), Purdue University - West Lafayette, IN
    Dissertation/Thesis Title: Time-dependent Nonlinear Control of Bipedal Robotic Walking
  • BS: Mechanical Engineering, (2011), Zhejiang University - Hangzhou, China


Dr. Yan Gu joined the Department of Mechanical Engineering at the University of Massachusetts Lowell as an Assistant Professor in September 2017. Her research investigates dynamic modeling and nonlinear control of hybrid, physically-interactive mechanical systems under full actuation and/or underactuation. Particularly, she is interested in achieving stable, versatile, agile, and energy efficient bipedal robotic walking through full-order dynamic modeling and nonlinear controls. Dr. Yan Gu also has a broad interest in biologically inspired energy minimization of legged robotic locomotion as well as robot-assisted human walking.

Selected Awards and Honors

  • Frederick N. Andrews Fellowship (2015) - Graduate School, Purdue Univ.
  • Estus H. and Vashti L. Magoon Award for Excellence in Teaching (2014) - Purdue Univ.
  • Chu Kochen Award (2010) - Zhejiang Univ.
  • National Scholarship (2009) - Ministry of Education of China

Selected Publications

  • Gu, Y., Yao, B., Lee, C. (2018). Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking with Global Position Tracking Capabilities. ASME Journal of Dynamic Systems, Measurement, and Control.
  • Gu, Y., Yao, B., Lee, C. (2017). Time-dependent Orbital Stabilization of Underactuated Bipedal Walking (pp. 4858-4863). American Control Conference,
  • Gu, Y., Yao, B., Lee, C. (2016). Bipedal Gait Recharacterization and Walking Encoding Generalization for Stable Bipedal walking (pp. 1788-1793). IEEE International Conference on Robotics and Automation,
  • Gu, Y., Lee, C., Yao, B. (2015). Feasible Center of Mass Dynamic Manipulability of Humanoid Robots (pp. 5082-5087). IEEE International Conference on Robotics and Automation,