Yuexin Han

Papers

Total Citations

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About

Dr. Yuexin Han has made foundational contributions to the field of robotic control, with a particular focus on adaptive force/motion control for constrained robotic systems. His most cited work, "On adaptive force/motion control of constrained robots" (2003), presents a pioneering adaptive control algorithm that enables simultaneous regulation of both the end-effector's trajectory and its contact force—a critical challenge in tasks requiring precise physical interaction, such as assembly or machining. Building upon the nonlinear coordinate transformation framework of McClamroch and Wang, Han’s approach leverages passivity-based design to ensure stability and robustness in the presence of model uncertainties. While his citation count reflects a specialized, high-impact contribution rather than broad popularity, this work has been instrumental for researchers advancing constrained robot control, particularly in adaptive and nonlinear methods. Han’s research is essential reading for students and engineers working on force-sensitive automation, where precise interaction with the environment is paramount.