Papers
13
Total Citations
151
H-Index
8
About
Lipeng Yuan’s research lies at the intersection of legged robotics, medical robotics, and mechatronic system optimization, with a focus on enabling precise, robust, and efficient motion in complex environments. His major contributions span three key areas: force sensing and control for hydraulic quadruped robots, where he developed novel calibration methods and multi-objective optimal torque control to improve contact force accuracy and motion tracking under significant model errors; thermal management for miniaturized hydraulic power units, where his work on optimizing rectangular staggered fins heat exchangers using genetic algorithms achieved compact, lightweight designs critical for quadruped robot performance; and medical robotics, particularly prostate seed implantation, where he advanced puncture control methods and robot design for MRI-compatible, low-velocity stability. His most cited paper (27 citations) introduces a one-dimensional force sensor calibration method that directly enhances legged robot locomotion, while his running gait research based on the SLIP model (11 citations) pushes toward high-speed capabilities. With over 140 total citations across ten papers, Yuan’s work demonstrates a rare ability to bridge fundamental control theory, practical hardware optimization, and clinical application—making him a notable figure in both field robotics and surgical mechatronics.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3
- 4
- 5
- 6Running Gait and Control of Quadruped Robot Based on SLIP Model11 citations · 2024
- 7
- 8
- 9
- 10A composite motion control method for quadruped robots in trot gait7 citations · 2024