Yigang Zhang

Papers

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About

Yigang Zhang is a pioneering researcher in nonlinear control systems and robotics, with a particular focus on the motion planning and control of spherical robots. His most influential work, "Approaches to Motion Planning for a Spherical Robot Based on Differential Geometric Control Theory" (2006), introduces novel strategies for steering a spherical robot with a stable platform—a system that is not nilpotent and thus presents significant control challenges. By transforming the robot's kinematic equations into an affine nonlinear control system without drift, Zhang develops a rigorous differential geometric framework for generating feasible motion plans. This foundational contribution has garnered 7 citations and remains a key reference for researchers working on underactuated robotic systems and nonholonomic motion planning. Zhang's work bridges advanced control theory with practical robotics, offering elegant mathematical solutions to complex real-world locomotion problems. His research continues to inspire new approaches in the design and control of unconventional robotic platforms, making him a notable figure in the intersection of geometric control and mobile robotics.