Papers
7
Total Citations
38
H-Index
4
About
Boyuan Li is a robotics researcher specializing in legged locomotion, sensorless perception, and intelligent control for heavy-duty and wheel-legged robots. His work addresses fundamental challenges in enabling robots to operate robustly in unstructured environments without relying on expensive or fragile contact sensors. Li’s major contributions include developing a sensorless framework for observing ground reaction forces and friction in heavy-legged robots (HLR) by fusing PMSM load torque and IMU data, achieving accurate contact force estimation despite high self-weight and unknown payloads. He also pioneered a distributed model predictive control (MPC) strategy for knee-wheeled wheel-legged robots (KW-WLRs), enabling seamless mode switching between energy-efficient wheeled motion and rough-terrain legged motion while considering actuator characteristics. His work on terrain estimation for quadruped robots using Kalman filters and contact probability fusion has advanced adaptive locomotion. Notably, Li’s 2024 paper on servo torque fault diagnosis for heavy-legged robots using insufficient information has already garnered 10 citations, reflecting its practical impact. His research, with over 38 total citations, bridges the gap between theoretical control and real-world robotic deployment, making him a rising figure in field robotics.
Research Focus
Key Achievements
Top Papers
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- 5Terrain Estimation for Quadruped Robots Based on Kalman Filter4 citations · 2023
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