Fangming Yu

Papers

Total Citations

109

H-Index

About

Fangming Yu is a pioneering figure in robotics, whose work has fundamentally advanced the field of force control without the need for physical sensors. His primary research focuses on sensorless compliant control and disturbance observer theory for multi-degree-of-freedom robotic systems. Yu’s most influential contribution, detailed in his 1993 paper "Force Sensorless Compliant Control Based on Reaction Force Estimation Observer in Multi-Degrees-of-Freedom Robot" (88 citations), introduced a groundbreaking method to estimate reaction forces using a disturbance observer, eliminating the need for complex, costly force sensors. This innovation simplified robot structures while maintaining precise active compliance. His subsequent work, "Sensorless Force Control of Direct Drive Manipulator" (2003, 21 citations), further refined these techniques for direct-drive systems, demonstrating robust motion control across three degrees of freedom. By enabling robots to sense and respond to forces through software rather than hardware, Yu’s research has had a lasting impact on industrial automation and human-robot interaction. His contributions remain essential reading for students and engineers seeking to design more efficient, sensor-minimal robotic systems.