Runbin Cai

National University of Defense Technology

Papers

Total Citations

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About

Runbin Cai is a robotics researcher specializing in the control and locomotion of quadruped robots, with a particular focus on inverse kinematics and gait generation. His major contributions center on the development of the Time-Pose control method, a novel framework that decouples quadruped robot control into separate gait and pose components for enhanced simplicity and real-time performance. This approach is detailed in his most-cited work, "Inverse Kinematics of a New Quadruped Robot Control Method" (27 citations), where he employs an enhanced extended Jacobian matrix to solve inverse kinematics for redundant joint designs. Building on this foundation, his second most-cited paper, "Trotting Gait of a Quadruped Robot Based on the Time-Pose Control Method" (14 citations), demonstrates the method's effectiveness for trotting on flat ground and slopes, highlighting its adaptability and computational efficiency. By introducing intuitive concepts like virtual legs, Cai's work offers practical, real-time solutions for quadruped locomotion, making his research valuable for engineers developing agile, terrain-adaptive robots. His contributions bridge theoretical kinematics and applied control, providing a streamlined approach that continues to influence the field.