Papers
5
Total Citations
61
H-Index
4
About
Shaohang Xu is a robotics researcher specializing in the control and navigation of quadruped robots, with a focus on robust locomotion, multi-modal gait adaptation, and multi-robot coordination. His major contributions lie in developing advanced model predictive control (MPC) and trajectory optimization frameworks that address real-world uncertainties, such as uncertain friction constraints and model dynamics. His 2023 paper on robust convex MPC for quadruped locomotion under uncertainties has garnered 36 citations, highlighting its impact on the field. Xu also pioneered a hierarchical control framework for efficient and robust multi-modal locomotion, enabling adaptive gait changes for lower energy consumption, and a distributed MPC formation control approach for multiple quadruped robots navigating obstacles with synchronized gaits. His recent work on agile and safe trajectory planning accounts for motion anisotropy—the directional differences in a robot’s movement capabilities—enhancing navigation safety. Additionally, his distributionally robust chance-constrained trajectory optimization addresses perception uncertainties in safe corridor planning. Xu’s research is notable for bridging theoretical optimization with practical robotic applications, advancing the reliability and autonomy of legged robots in complex environments.
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