Papers
47
Total Citations
624
H-Index
11
About
Zhenhua Xiong is a robotics researcher whose work spans robot dynamics, motion planning, human-robot collaboration, and multi-robot systems. With over 450 cumulative citations, his research has made meaningful contributions to both the theoretical foundations and practical deployment of industrial and collaborative robots. Xiong's most influential work focuses on dynamic model identification for industrial robots, with his 2020 iterative approach paper garnering 150 citations — a testament to its broad applicability in motion planning, feedforward control, and disturbance observer design. Complementing this, his research on collision detection using force/torque sensors (70 citations) addresses critical safety challenges in human-robot shared workspaces, offering solutions robust to the complexities of joint friction modeling. A recurring theme in Xiong's research is the capability map framework, which he has applied to autonomous mobile manipulators and cooperative human-robot transportation tasks, enabling more intuitive and efficient physical collaboration. His work on multi-robot systems — including formation-constrained motion planning and deformable sheet-based object transport — reflects a forward-looking vision for coordinated robotic autonomy. From early contributions in workpiece localization (2002) to recent advances in radiation-environment navigation, Xiong's career demonstrates a sustained commitment to solving real-world robotic challenges with rigorous, practical methodologies.
Research Focus
Key Achievements
Top Papers
- 1
- 2Collision Detection of Robots Based on a Force/Torque Sensor at the Bedplate70 citations · 2020
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- 6Multi-Robot Object Transport Motion Planning With a Deformable Sheet30 citations · 2022
- 7Static model analysis and identification for serial articulated manipulators21 citations · 2018
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- 9Workpiece localization and computer aided setup system17 citations · 2002
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