Wenhao Yao

Papers

Total Citations

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About

Wenhao Yao is a robotics researcher specializing in the dynamics and control of underactuated systems, with a particular focus on two-wheeled mobile robots (2WMRs). His most cited work, "Dynamics and motion control of an underactuated two-wheeled mobile robot" (2012), establishes a rigorous mathematical framework for these inherently unstable platforms. By deriving the system’s dynamics using Lagrange Equations, Yao addresses the challenge of controlling a robot with only two actuators while managing the passive intermediate body (IB). This foundational contribution provides essential insights into balancing, trajectory tracking, and stabilization—critical for applications in personal transportation, service robotics, and agile exploration. Although his citation count (5) reflects a specialized niche, the work is a cornerstone for engineers developing self-balancing robots. Yao’s research bridges theoretical mechanics and practical control design, offering a clear methodology for tackling underactuation. His efforts advance the understanding of how to achieve precise motion in resource-constrained robotic systems, making him a valuable contributor to the field of mobile robotics and control engineering.