Papers
8
Total Citations
146
H-Index
5
About
Xiuping Mu is a leading researcher in the field of bipedal robotics, with a primary focus on the dynamics, gait synthesis, and impact analysis of five-link biped robots. Her major contributions include developing a systematic method for synthesizing complete sagittal gait cycles—integrating both single and double support phases—and pioneering an improved kinematic model that, for the first time, provided explicit solutions for impact dynamics. This work has been instrumental in correlating gait parameters with contact events, enabling more realistic and stable walking patterns. Her most cited paper, "Synthesis of a complete sagittal gait cycle for a five-link biped robot" (2003), has garnered 55 citations, underscoring its foundational impact. She has also advanced the understanding of post-impact angular velocities and rank-deficient Jacobian matrices, addressing critical challenges in robotic contact tasks. Her research on sliding mode control during double support phases further demonstrates her commitment to robust motion regulation. With a career spanning over a decade, Mu’s work remains a cornerstone for students and researchers exploring bipedal locomotion, offering both theoretical insights and practical frameworks for dynamic walking and impact mitigation.
Research Focus
Key Achievements
Top Papers
- 1Synthesis of a complete sagittal gait cycle for a five-link biped robot55 citations · 2003
- 2On Impact Dynamics and Contact Events for Biped Robots via Impact Effects39 citations · 2006
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- 5Sagittal gait synthesis for a five-link biped robot12 citations · 2004
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- 8Nonlinear Contact Parameter Estimation for Robotic Systems With Payload2 citations · 2007