Xiuhua Ni
Papers
1
Total Citations
4
H-Index
1
About
Xiuhua Ni is a researcher advancing the frontier of contact-rich manipulation in robotics, with a focus on bridging the gap between planning and control under non-smooth dynamics. Her key research areas include robot manipulation, contact modeling, and control synthesis for systems with intermittent contact. Ni’s most notable contribution, the 2025 paper “Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?”—already garnering 4 citations—challenges conventional assumptions in controller design. She demonstrates that while contact smoothing enables gradient-based synthesis by approximating non-smooth systems, linear feedback on these smoothed dynamics may not guarantee stability in real-world contact-rich scenarios. This work highlights critical limitations in existing tools and proposes pathways for more robust control strategies. Ni’s research is pivotal for developing reliable robotic systems that can perform complex tasks like assembly or in-hand manipulation. Her insights are shaping how researchers approach the stability and feasibility of contact-rich plans, making her a rising voice in the robotics community.
Research Focus
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Top Papers
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