Ai Cheng Li

Papers

Total Citations

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About

Ai Cheng Li’s research focuses on the mechanics and control of mobile robotics, with a particular emphasis on omni-directional wheeled platforms. In their most-cited work, “Analysis of Climbing Obstacle Capability and its Influential Factors of Omni-Directional Wheeled Robot” (2012), Li developed a simplified mechanics model to systematically study how omni-directional robots overcome vertical obstacles. This paper established quantitative relationships between key design parameters—such as wheel geometry, torque, and surface friction—and the maximum climbable obstacle height under two critical conditions: simultaneous obstacle negotiation by both front wheels. While the work has garnered 3 citations, it represents a foundational step in understanding the mobility limits of these versatile robots, offering practical guidelines for improving their terrain adaptability. Li’s contribution is particularly valuable for researchers working on autonomous navigation in cluttered environments, where obstacle negotiation is essential. By clarifying the trade-offs between design choices and climbing performance, this study supports the development of more capable omni-directional robots for applications in logistics, inspection, and service robotics.