Wu-Sheng Lu
Papers
7
Total Citations
305
H-Index
5
About
Wu-Sheng Lu is a pioneering figure in the field of robotic manipulation and adaptive control, whose work has fundamentally shaped how robots interact with uncertain environments. His primary research areas include adaptive impedance control, force/position control, and the efficient computation of robot dynamics. Lu’s most impactful contribution is his seminal 1991 paper on impedance control with adaptation, which introduced algorithms capable of compensating for uncertain manipulator parameters and imprecise force sensor measurements—a breakthrough that has garnered 219 citations and remains a cornerstone in the field. He further advanced the discipline by developing a unified approach to stable adaptive force/position control, enabling robots to simultaneously manage contact forces and motion trajectories. A key technical achievement is his work on the recursive computation of the manipulator regressor, which dramatically improved the efficiency of adaptive control implementations. Despite a comment noting an error in his early impedance control work, Lu’s foundational contributions continue to influence modern robotics, particularly in applications requiring robust interaction with unknown environments.
Research Focus
Key Achievements
Top Papers
- 1Impedance control with adaptation for robotic manipulations219 citations · 1991
- 2Regressor formulation of robot dynamics: computation and applications58 citations · 1993
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- 5Comments on "Impedance control with adaptation for robotic manipulations5 citations · 1991
- 6An adaptive control scheme for robot manipulators with flexible joints2 citations · 2002
- 7Model-based adaptive position and force control of robot manipulators2 citations · 1992