Donghai Qian

About

Donghai Qian is a robotics researcher whose work spans inverse kinematics, redundant robot control, human-robot interaction, and mobile robot navigation. His most cited paper, "Algorithm for the Inverse Kinematics Calculation of 6-DOF Robots Based on Screw Theory and Paden-Kahan Sub-problems" (2009, 17 citations), provides a foundational method for efficient robot motion planning. He has also contributed to force control in kinematically redundant robots, using gradient projection methods to optimize performance in complex tasks. More recently, Qian has explored learning from demonstration (LFD) for humanoid dual-arm robots, aiming to enable robots to perform multiple tasks like humans. His work on pedestrian trajectory prediction using SOPD-GAN (2023, 2 citations) supports trajectory planning and motion control for mobile robots in dynamic, human-robot coexistence environments. Additionally, he developed a novel variable stiffness actuator with automatic rigidity/compliance switching (2014, 2 citations) to enhance safety and adaptability in human-robot interaction. Qian’s research demonstrates a sustained focus on improving robot autonomy, safety, and dexterity across diverse applications.

Research Focus

Key Achievements

Top Papers

1. 1
   Algorithm for the Inverse Kinematics Calculation of 6-DOF Robots Based on Screw Theory and Paden-Kahan Sub-problems

   17 citations · 2009
2. 2
   Research on simulation of redundant robot force control

   6 citations · 2007
3. 3
   Research on LFD System of Humanoid Dual-Arm Robot

   4 citations · 2024
4. 4
   Pedestrian Trajectory Prediction Based on SOPD-GAN Used for the Trajectory Planning and Motion Control of Mobile Robot

   2 citations · 2023
5. 5
   Development of a novel variable stiffness actuator with automatic rigidity/compliance switching

   2 citations · 2014

Key Collaborators

Contact & Links