Xiaolong Zhang

Papers

Total Citations

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About

Xiaolong Zhang is a robotics researcher whose work focuses on the control and estimation of complex robotic systems, particularly those operating on uncertain or floating bases. His primary research areas include constraint-following control for uncertain robot manipulators and low-cost inertial sensing for motion estimation. Zhang’s most notable contribution is a novel control approach inspired by analytical dynamics, which treats robot motion as external constraints to manage system uncertainty—a method detailed in his 2019 paper (9 citations). He has also advanced practical sensing solutions for floating base robots, such as underwater or space manipulators, by developing algorithms that use low-cost MEMS IMUs for joint angle estimation. His 2017 paper (5 citations) introduced a strap-down IMU setup with Extended Kalman and Complementary Filters, achieving reliable angle estimation without expensive sensors. With a total of 20 citations across his top papers, Zhang’s work bridges theoretical control and affordable hardware, making robotics more accessible. His achievements highlight a commitment to robust, real-world applications in field robotics, from uncertain manipulators to mobile spatial odometry.