Papers
8
Total Citations
20
H-Index
2
About
Han Xu Sun is a robotics researcher whose work focuses on the dynamics, control, and mechanical design of specialized robotic systems, including spherical robots, space manipulators, and flexible pipe-crawling robots. His major contributions lie in the modeling and control of underactuated and constrained robotic platforms. Notably, his most-cited paper, "Sliding Mode Control of Pendulum-Driven Spherical Robots" (2012, 5 citations), establishes a hierarchical sliding mode controller for the longitudinal motion of spherical robots, addressing the challenges of underactuated mechanical systems. Sun also advanced space robotics through dynamic parameter identification methods for free-flying robot bases and unknown objects handled by space manipulators, critical for precise control in microgravity. His work on flexible squirm pipe robots optimized structural design for improved trafficability in constrained environments, while his research on flexible robot joints employed model predictive control to enforce safety constraints. Additionally, Sun contributed to the mechanical analysis of jumping motions in spherical robots, enhancing their obstacle-surmounting capabilities. Though his citation counts are modest, his research demonstrates a consistent focus on practical, real-world robotic applications, from planetary exploration to in-orbit servicing, making his work valuable for students and researchers in robotics and control systems.
Research Focus
Key Achievements
Top Papers
- 1Sliding Mode Control of Pendulum-Driven Spherical Robots5 citations · 2012
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- 7Mechanical Analysis of the Jumping Motion of a Spherical Robot2 citations · 2012
- 8