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About

Zhan Zhan is a pioneering researcher in the field of spherical mobile robotics, with a primary focus on mechanism design, dynamic modeling, and trajectory tracking control. His major contributions include the development of the BHQ-1 spherical robot, a novel design driven by two internal motors for straight motion and turning on flat surfaces, and the BHQ-2 robot for unstructured environment exploration. Zhan’s work on back-stepping based trajectory tracking controllers has been particularly influential, with his 2008 paper on this topic accumulating 21 citations. This research addresses the challenge of robust control in hostile environments, using a simplified Boltzmann-Hamel equation and Lyapunov stability theory to achieve global asymptotic tracking. His 2005 paper on BHQ-1’s mechanism and motion analysis, with 13 citations, further solidifies his expertise in applying Lagrange methods to robot dynamics. Zhan’s notable achievement lies in bridging theoretical control methods with practical robotic applications, enhancing the survivability and autonomy of spherical robots. His work on optimal trajectory planning using Hamiltonian functions, though with fewer citations, demonstrates his continued innovation in the field.