Shaoxun Liu
Papers
10
Total Citations
46
H-Index
5
About
Shaoxun Liu is a leading researcher in the field of heavy-legged and wheel-legged robotics, with a focus on sensorless state estimation, fault diagnosis, and robust control. His major contributions include developing innovative frameworks for observing ground reaction forces and contact forces without the need for force/torque sensors, addressing a critical challenge in heavy-legged robots (HLRs) where high self-weight makes sensor-based methods impractical. Liu’s work on sensorless observation, using PMSM load torque and IMU data, has enabled accurate friction distinction and disturbance compensation, significantly improving robot stability and energy efficiency. His research on distributed MPC-based posture control for knee-wheeled wheel-legged robots (WLRs) and cascade trajectory optimization for overcoming high obstacles has advanced the maneuverability and passability of these systems in complex terrains. With over 46 citations across his top papers, Liu’s impact is evident in his practical solutions for servo torque fault diagnosis, load awareness, and fixed-time fault-tolerant control, ensuring safe and smooth operation even under actuator failures. His achievements include pioneering sensorless methods that eliminate costly sensors, making heavy-legged robots more viable for real-world applications in transportation and industrial automation.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10