Beichen Xiang
Papers
2
Total Citations
4
H-Index
2
About
Beichen Xiang is a rising researcher in the field of robotics, with a primary focus on state estimation and multi-sensor fusion for legged and wheeled-quadruped robots. His work addresses critical challenges in autonomous locomotion, particularly the limitations of inertial measurement unit (IMU) priors that often lead to localization errors in complex environments. Xiang’s major contributions include the development of **LLIO**, a LiDAR-kinematic-inertial odometry framework that integrates ground contact constraints via an iterated extended Kalman filter, significantly enhancing robustness for legged robots. He also pioneered a **proprioceptive-based multimode state estimation** system for wheeled-quadruped robots, leveraging motor encoders and IMU data to overcome the non-slipping stance leg assumption, enabling reliable long-distance operation. Though early in his career, his papers have already garnered citations, reflecting their immediate relevance to the robotics community. Xiang’s work is notable for its practical, real-world applicability, pushing the boundaries of how robots perceive and navigate unstructured terrains. His research stands as a valuable resource for students and engineers seeking to advance autonomous mobility in dynamic environments.
Research Focus
Key Achievements
Top Papers
- 1
- 2