Xilun
Papers
1
Total Citations
8
H-Index
1
About
Xilun’s research focuses on the dynamics and control of wheel-legged robots, particularly in understanding how variations in robot height affect wheeled motion and slip ratio. His major contribution lies in advancing the dynamic modeling of wheeled mobile robots (WMRs) by incorporating height variation—a factor often overlooked in prior models. By introducing constraint equations linking vertical and horizontal displacements, Xilun improved the accuracy of dynamic simulations for robots like NOROS-II. Using Lagrange methods under nonholonomic constraints, he derived inverse dynamics that revealed a key insight: joint torques are inversely proportional to robot height. Validated through Adams simulations with less than 2% error, his work provides a more reliable foundation for analyzing robot performance on variable terrain. His most-cited paper (2012, 8 citations) has become a reference for researchers tackling height-dependent dynamics in legged-wheeled systems. Xilun’s contributions are especially valuable for advancing the design and control of adaptive, all-terrain robots, bridging a critical gap between theoretical modeling and real-world robotic mobility.
Research Focus
Key Achievements
Top Papers
- 1