Jin Kun Liu
Papers
1
Total Citations
7
H-Index
1
About
Jin Kun Liu is a robotics researcher whose work focuses on the control and trajectory tracking of non-conventional mobile systems, with a particular emphasis on spherical robots. His most cited paper, "Trajectory Tracking of a Spherical Robot Based on an RBF Neural Network" (2011, 7 citations), addresses the complex control challenges of the BHQ-1 spherical mobile robot. In this work, Liu introduces a dual-layer control architecture: first deriving a desired velocity through a PD controller based on kinematics, then enhancing tracking performance with a Radial Basis Function (RBF) neural network-based PD controller. This approach demonstrates how neural networks can compensate for the nonlinear dynamics inherent in spherical robots, which lack traditional wheels and rely on internal mass shifting for movement. Liu's contributions lie at the intersection of classical control theory and intelligent systems, offering practical solutions for the precise motion control of underactuated robotic platforms. His research has implications for applications requiring omnidirectional mobility and robust trajectory following in unstructured environments.
Research Focus
Key Achievements
Top Papers
- 1Trajectory Tracking of a Spherical Robot Based on an RBF Neural Network7 citations · 2011