Xu
Papers
1
Total Citations
8
H-Index
1
About
Xu’s research centers on the dynamics and control of wheel-legged robots, with a particular focus on how variable height affects mobility and slip in hybrid locomotion systems. His most cited work, “Dynamics and Wheel’s Slip Ratio of a Wheel-legged Robot in Wheeled Motion Considering the Change of Height” (2012, 8 citations), addresses a critical gap in existing models: prior approaches ignored the impact of vertical displacement on wheel slip and dynamic performance. By incorporating constraint equations linking body height changes to wheel motion, Xu developed an improved dynamic model for robots like NOROS-II using Lagrange methods under nonholonomic constraints. His inverse dynamics calculations across three distinct paths revealed that joint torques are inversely proportional to robot height—a key insight for adaptive control. Validated against Adams simulations with errors under 2%, this work provides a foundation for more agile, height-adjustable wheel-legged robots. Though early in citation impact, Xu’s contribution is notable for bridging theoretical modeling with practical verification, offering students and researchers a rigorous framework for analyzing variable-height locomotion in hybrid robotic systems.
Research Focus
Key Achievements
Top Papers
- 1