Wenhan Cai
Papers
4
Total Citations
15
H-Index
2
About
Wenhan Cai is a robotics researcher whose work focuses on the dynamic motion control of bipedal robots and redundant manipulators. His primary research areas include whole-body control, real-time kinematic prediction, and multi-task optimization for robotic systems. Cai’s most notable contribution is his work on one-foot balancing for bipedal robots, where he introduced a three-particle model predictive control approach to address the unique challenges of a reduced support polygon and kinematic coupling between the center of mass and the swinging leg. This paper has garnered 9 citations, marking it as his most influential work to date. He has also advanced squat motion control for bipedal robots, integrating real-time kinematic prediction with whole-body control to enable smoother, more stable movements essential for tasks like jumping and object retrieval. In addition, Cai has explored multi-task control for redundant robots using quadratic programming and trajectory tracking in dynamic environments. His research bridges theoretical control methods with practical robotic applications, contributing to the development of more agile and adaptable humanoid robots.
Research Focus
Key Achievements
Top Papers
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