Xiaogeng He

University of Toronto, North China University of Technology

Papers

Total Citations

H-Index

About

Xiaogeng He is a pioneering figure in the field of robotic dynamics, with a career dedicated to advancing the computational efficiency of manipulator control. His foundational work, beginning with the 1989 paper "An Algorithm for Efficient Computation of Dynamics of Robotic Manipulators," introduced a recursive algorithm that leverages the concepts of the "augmented body" and "barycenter." This method, grounded in the Newton-Euler formalism, significantly reduced computational load, making real-time control of robotic arms more feasible. He further extended this expertise by tackling the complex problem of parameter identification in "Identification of inertial parameters of a manipulator with closed kinematic chains" (1992). This work provided a rigorous mathematical model and dynamic derivation for determining inertial parameters in closed-loop systems, a critical step for precise control in advanced robotics. While his most-cited papers have accumulated a modest 32 citations, their influence is deeply embedded in the foundational literature of robotic dynamics. He’s contributions are particularly notable for their practical focus on real-time applications and their rigorous treatment of complex kinematic structures, marking him as a key contributor to the theoretical and algorithmic backbone of modern robotics.