Xiaohan He
Papers
1
Total Citations
2
H-Index
1
About
Xiaohan He is a robotics researcher whose work centers on the locomotion control of legged robots, particularly quadrupedal systems. His major contribution lies in advancing trajectory tracking for dynamic walking, where he proposed a predictive preview control algorithm that leverages the Zero Moment Point (ZMP) criterion to stabilize trot gaits. By modeling the robot as a linear inverted pendulum at critical moments, He’s approach enables more precise and anticipatory foot placement, bridging the gap between theoretical balance and real-world motion. His foundational paper, "Predictive preview trajectory tracking control for quadruped robots with Zero Moment Point" (2014), has garnered 2 citations, reflecting its niche but targeted impact in the field of robot locomotion. While modest in citation count, this work is notable for its early integration of preview control—a concept from optimal control theory—into quadruped dynamics, offering a framework that later researchers have built upon for smoother, more adaptive walking. He’s research remains relevant for students and engineers exploring model-based control in robotics.
Research Focus
Key Achievements
Top Papers
- 1