Xuan Vinh Ha
Papers
5
Total Citations
38
H-Index
4
About
Xuan Vinh Ha is a robotics researcher whose work centers on the mechanics and control of mobile and grasping robots. His primary contributions lie in the analysis of under-actuated robotic hands and the development of advanced control strategies for skid-steered mobile robots operating in challenging, slip-prone environments. His most cited paper, "A General Contact Force Analysis of an Under-Actuated Finger in Robot Hand Grasping" (12 citations), provides a foundational mathematical framework for understanding how fewer actuators can effectively control complex grasping tasks. In mobile robotics, Ha has pioneered novel hybrid optimization algorithms, combining Particle Swarm Optimization with Mesh Adaptive Direct Search, to improve trajectory estimation accuracy. He also introduced a Fuzzy Vector Field Orientation feedback control method to compensate for wheel slip, significantly enhancing path tracking for four-track wheeled robots. His work on dual estimation algorithms and Sigma-Point Kalman Filters for sensor fusion has further advanced the reliability of robot navigation in rough terrain. With a cumulative impact of over 38 citations, Ha’s research is particularly valuable for applications in exploration, military robotics, and autonomous systems requiring robust, adaptive control.
Research Focus
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