Papers
8
Total Citations
245
H-Index
6
About
Dr. Xiaogang Yan is a leading researcher in the field of robotic control and redundancy resolution, with a particular focus on the motion planning and control of redundant manipulators and wheeled mobile robots. His major contributions include the development of novel schemes for coordinated motion planning that address critical challenges such as control singularity, fault tolerance, and joint-variable oscillation. Notably, his work on the "division-by-zero" problem in nonlinear control, using the Zhang dynamics (ZD) and Zhang-gradient (ZG) methods, provides a groundbreaking approach to conquering control singularities, earning 79 citations. His most cited paper, with 94 citations, introduces a QP-based manipulability-maximizing scheme for physically constrained wheeled mobile redundant manipulators. Dr. Yan has also advanced fault-tolerant motion planning through a different-level simultaneous minimization scheme aided by discrete-time recurrent neural networks (44 citations). His research consistently integrates robot kinematics and dynamics, offering inverse-free solutions and optimal parameter values for redundancy resolution. With a total of over 240 citations across his key works, Dr. Yan’s innovative methodologies have significantly influenced modern robotic control theory and practice.
Research Focus
Key Achievements
Top Papers
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