Papers
9
Total Citations
120
H-Index
5
About
Sheng Xiang is a robotics researcher whose work focuses on the design, control, and trajectory planning of cable-driven parallel robots (CDPRs) and novel locomotion systems. His major contributions lie in exploiting the cable wrapping phenomenon to create adaptive, three-degree-of-freedom (DOF) planar and spatial robots with unlimited rotation axes, significantly expanding their workspace and dexterity. Xiang has also advanced dynamic trajectory planning for cable-suspended robots, using linear time-varying model predictive control (MPC) and rapidly exploring random tree (RRT) search to enable feasible, multiple-swing motions beyond the static footprint. His research on trajectory optimization for six-DOF CDPRs further demonstrates how low-dimensional dynamic models can overcome local minima, achieving dynamic motions that extend beyond traditional static workspaces. With over 100 citations across his most-cited papers, Xiang’s work has had a tangible impact on the field. His recent innovations extend to novel robot designs, including the BiTSpoke leg-wheel robot with actively-transformable spoke wheels for stable locomotion and step climbing, and the SlidBot quadruped with passive wheels for roller skating. These achievements highlight Xiang’s versatility in both theoretical control and practical robot design, making him a notable contributor to modern robotics.
Research Focus
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Top Papers
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- 9SlidBot: A Quadruped Robot with Passive Wheels for Roller Skating2 citations · 2025