Papers
2
Total Citations
15
H-Index
2
About
Daquan Liu is a leading researcher in the field of legged robotics, with a specific focus on hexapod robot locomotion, stability control, and fault-tolerant motion planning. His work addresses critical challenges in deploying multi-legged robots for demanding real-world applications such as resource exploration, post-disaster rescue, and military operations, where terrain is rugged and the risk of mechanical or motor failure is high. Liu’s major contributions include developing novel instability adjustment strategies that combine the Zero Moment Point (ZMP) and Force-Angle Stability Margin (FASM) methods to detect and correct rollover in real time. He has also designed adaptive fault-tolerant gait generators based on CPG controllers that can dynamically adjust leg support phases in response to single-leg failures. His most cited paper (2022, 9 citations) introduces a foot force control method for maintaining motion after leg failure, while his 2021 work (6 citations) demonstrates a complete system capable of stabilizing a robot within one second of a failure. Liu’s research has been validated through ADAMS-Matlab co-simulations, showing stable margins of 0.6–1.6 m and minimal pitch/roll fluctuations, marking significant progress toward resilient, self-recovering robotic systems.
Research Focus
Key Achievements
Top Papers
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