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About

Yaru Xu is a robotics researcher whose work centers on the dynamic modeling, control, and path planning of robotic systems, with a particular focus on industrial and climbing robots. Their major contributions include the application of the Udwadia–Kalaba theory to derive succinct and explicit equations of motion for constrained robots, such as SCARA manipulators and climbing platforms, enabling higher precision in repetitive tasks. Xu also developed a novel constraint tracking control method integrating sliding mode control, offering robust adaptability for industrial robots facing flexibility and load variations. Additionally, they advanced path planning for complex mobile articulated robots using an improved A* algorithm, addressing the challenges of nonholonomic constraints. Their most-cited work, "Dynamic modeling of SCARA robot based on Udwadia–Kalaba theory," has garnered 27 citations, reflecting its impact on the field. Notable achievements include the design of a wall-climbing robot platform with protective devices for city inspection, showcasing practical innovation. With a total of 89 citations across their top papers, Xu’s research bridges theoretical modeling and real-world robotic applications, making significant strides in constrained multibody dynamics and control.