Papers
15
Total Citations
228
H-Index
6
About
Yaxian Xin is a robotics researcher specializing in legged and hybrid locomotion systems, with a particular focus on quadruped robots, wheeled-bipedal robots, and whole-body dynamic control. Their most influential contribution is a comprehensive 2021 survey on quadruped robot development — covering joint configuration, dynamic locomotion, and mobile manipulation — which has accumulated 86 citations and serves as a key reference for researchers entering the field. Xin has made substantial contributions to the design and control of wheel-leg hybrid platforms, including the development of distributed dynamic models and whole-body control frameworks that address the inherent challenges of underactuated, nonlinear robotic systems. Their work on the SKATER wheeled-bipedal robot (2024) exemplifies their ability to translate theoretical control architectures into robust hardware implementations capable of high-speed turning and terrain adaptability. Earlier research on quadruped gait generation — including trot-to-walk transitions, turning gaits, and optimized crawl strategies — demonstrates a consistent trajectory from foundational locomotion algorithms toward increasingly sophisticated whole-body planning on uneven terrain. With over 210 cumulative citations across a decade of publication, Xin's research meaningfully advances the practical deployment of dynamic mobile robots in real-world environments.
Research Focus
Key Achievements
Top Papers
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- 3Modeling and Control of a Wheeled Biped Robot27 citations · 2022
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- 9An optimized discontinuous crawl gait for quadruped robot4 citations · 2017
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