Xupeng Liu
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Xupeng Liu has a total of 8 co-authors. Here are the top co-authors by number of shared publications:
- Zhiying Gao
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China
3 shared publications - Yong Zang
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China
2 shared publications - Ben Guan
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China
1 shared publication Maolin Liao
1 shared publication- Peng Zhang
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China
1 shared publication - Xuejie Ma
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China
1 shared publication
Latest Publications
- 4 November 2025
- Published by Springer Nature in International Journal of Control, Automation, and Systems
- Vol. 23 (11) , 3451-3465
Head Orientation Control Based on Fuzzy Strategy for a Snake Robot in Water
- 4 November 2025
- Published by Springer Nature in International Journal of Control, Automation, and Systems
- Vol. 23 (11) , 3451-3465
Head Orientation Control Based on Fuzzy Strategy for a Snake Robot in Water
- Open Access
- 29 August 2024
- Published by MDPI AG in Electronics
- Vol. 13 (17) , 3437
Bio-Inspired Multimodal Motion Gait Control of Snake Robots with Environmental Adaptability Based on ROS
Snake robots have broad application potential, but their motion-control and motion-planning problems are extremely challenging due to the high redundancy of degrees of freedom (DoFs), and the lack of complete system tools further hinders the research of snake robots. In this paper, a coordinate system and a kinematic model were established based on the D-H method for snake robots. The rhythm-generation model for multimodal motion gait and a novel sliding-window five-point interpolation-derivative model were proposed based on a bio-inspired central pattern generator (CPG) model. A prototype and simulator were constructed based on the designed snake robot models to achieve the multimodal motion gait for the snake robot and improve its environmental adaptability. Furthermore, a novel structure–drive–perception–control integration snake robot system (SnakeSys) was built based on the robot-operating system (ROS). Finally, the effectiveness, feasibility, and accuracy of the kinematic model and control model in motion control and information perception were verified through simulations and experiments. We open sourced SnakeSys so that relevant researchers or developers can directly utilize or further develop it.
- 29 August 2024
- Published by MDPI AG in Electronics
- Vol. 13 (17) , 3437
Open AccessBio-Inspired Multimodal Motion Gait Control of Snake Robots with Environmental Adaptability Based on ROS
Snake robots have broad application potential, but their motion-control and motion-planning problems are extremely challenging due to the high redundancy of degrees of freedom (DoFs), and the lack of complete system tools further hinders the research of snake robots. In this paper, a coordinate system and a kinematic model were established based on the D-H method for snake robots. The rhythm-generation model for multimodal motion gait and a novel sliding-window five-point interpolation-derivative model were proposed based on a bio-inspired central pattern generator (CPG) model. A prototype and simulator were constructed based on the designed snake robot models to achieve the multimodal motion gait for the snake robot and improve its environmental adaptability. Furthermore, a novel structure–drive–perception–control integration snake robot system (SnakeSys) was built based on the robot-operating system (ROS). Finally, the effectiveness, feasibility, and accuracy of the kinematic model and control model in motion control and information perception were verified through simulations and experiments. We open sourced SnakeSys so that relevant researchers or developers can directly utilize or further develop it.