Hao-Yin Shih

Papers

Total Citations

H-Index

About

Hao-Yin Shih is a leading researcher in robotics and adaptive control systems, with a primary focus on the modeling and autonomous navigation of omni-directional wheeled robots. His most influential work, "Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot" (2013), has garnered 95 citations and stands as a cornerstone in the field. In this seminal paper, Shih derived a complete dynamics model for a four-Mecanum-wheeled robot using Lagrange’s equation, critically accounting for mass eccentricity and friction uncertainty—challenges that had previously limited real-world application. Building on this, he developed a nonlinear stable adaptive control law through the backstepping method, grounded in Lyapunov stability theory, enabling robust trajectory tracking despite system uncertainties. This contribution bridges theoretical rigor with practical deployment, offering a framework that has inspired subsequent advances in mobile robotics and automation. Shih’s work is particularly valued for its systematic approach to overcoming friction and dynamic imbalances, making it essential reading for students and researchers exploring adaptive control in nonholonomic systems. His achievements underscore a commitment to solving complex, real-world robotic challenges with mathematical elegance.