Papers
35
Total Citations
1,747
H-Index
17
About
Xiaoping Yun is a prominent researcher whose work spans robotics, motion tracking, and autonomous systems, with particular expertise in the control of complex mechanical systems and human-computer interaction technologies. His most celebrated contribution is a quaternion-based Kalman filter for real-time human body motion tracking (2006), which has garnered over 560 citations and remains a foundational reference in wearable sensing, biomechanics, and synthetic environment applications. Earlier in his career, Yun made significant theoretical advances in the control of mechanical systems subject to nonholonomic constraints — most notably rolling contacts — establishing unified frameworks that continue to influence robotic modeling and manipulation research, with his 1994 paper accumulating over 330 citations. His work on wheeled mobile manipulators addressed coordination of locomotion and manipulation, mobility analysis, and stability of internal dynamics, collectively shaping how researchers design and analyze mobile robotic platforms. Yun also contributed practical algorithms for autonomous navigation, including a wall-following method for escaping local minima in potential field planning and a dynamic path-following control approach. Across more than three decades, his research has bridged fundamental theory and real-world implementation, earning him sustained recognition as an influential figure in robotics and motion estimation.
Research Focus
Key Achievements
Top Papers
- 1
- 2Control of Mechanical Systems With Rolling Constraints332 citations · 1994
- 3
- 4Unified analysis on mobility and manipulability of mobile manipulators93 citations · 2003
- 5
- 6Line and circle formation of distributed physical mobile robots82 citations · 1997
- 7
- 8
- 9Stability analysis of the internal dynamics of a wheeled mobile robot51 citations · 1997
- 10Dynamic path following: a new control algorithm for mobile robots41 citations · 2002