Papers
28
Total Citations
384
H-Index
12
About
Lilong Cai is a robotics and control systems researcher whose career spans over three decades, with foundational contributions to robot manipulator control, friction compensation, and, more recently, soft robotics. His most influential work centers on developing smooth robust nonlinear controllers for rigid robot manipulators, particularly addressing the persistent challenge of joint stick-slip friction — a problem that degrades both positioning accuracy and motion quality in robotic systems. His 2002 paper on smooth robust nonlinear control (54 citations) and his earlier 1994 work on friction compensation (38 citations) established him as a key voice in this specialized domain. Beyond friction, Cai made significant strides in simultaneous force and position control (45 citations) and pioneered a Fourier series-based learning controller for decentralized tracking (42 citations), offering elegant solutions for periodic trajectory tasks. His research also extended to multi-robot cooperation and collision-robust control under model uncertainty. In later years, Cai embraced the emerging field of soft robotics, contributing designs for pneumatic jumping robots and soft damping mechanisms. With a cumulative citation count exceeding 280 across his most notable works, his research offers enduring value to engineers and researchers working at the intersection of control theory and robotic systems.
Research Focus
Key Achievements
Top Papers
- 1
- 2An approach to force and position control of robot manipulators45 citations · 2003
- 3A learning controller for robot manipulators using Fourier series42 citations · 2000
- 4
- 5A jumping robot using soft pneumatic actuator22 citations · 2015
- 6
- 7Smooth robust tracking controllers for uncertain robot manipulators19 citations · 2002
- 8
- 9
- 10Soft damper for quick stabilization of soft robotic actuator13 citations · 2016