Zengbo
Papers
2
Total Citations
23
H-Index
2
About
Zengbo is a robotics researcher whose primary focus lies in the control and trajectory planning of nonholonomic spherical mobile robots—a class of robots prized for their omnidirectional mobility and robust stability. His major contributions center on developing advanced control strategies to overcome the inherent challenges of underactuated, non-chained systems. In his most cited work (2008, 21 citations), Zengbo introduced a back-stepping based trajectory tracking controller for the BHQ-2 spherical robot, designed for unmanned environmental exploration. By modeling the robot’s dynamics using a simplified Boltzmann-Hamel equation, he derived a controller whose convergence was rigorously proven via Lyapunov stability theory. Simulations demonstrated that the robot could globally and asymptotically track both linear and circular trajectories, a significant step toward enabling reliable autonomous navigation in hostile or cluttered environments. A second paper (2008, 2 citations) further explored optimal trajectory planning using Hamiltonian functions. While his citation counts are modest, Zengbo’s work is notable for its theoretical depth—bridging nonlinear control theory with practical spherical robot design—and for laying foundational control methods that enhance the survivability and application potential of these unique platforms.
Research Focus
Key Achievements
Top Papers
- 1
- 2