Yuehong Yin — accepted AI-conference papers

2026

Steering Performance Optimization for Wheeled Mobile Robots in Granular Media via DRFM: Enhancing Locomotion Precision and Energy Efficiency

Chuang Cao, Lei Huang, Feiyu Zhang, Yuehong Yin

RA-L 2026

Degraded steering performance and increased energy consumption present significant barriers to deploying wheeled mobile robots (WMRs) in granular media such as sand and lunar regolith. This study presents and experimentally validates a systematic optimization framework based on Dynamic Resistive For

Cited by 0 Source ↗Scholar ↗

2022

A Dynamic Resistive Force Model for Designing Mobile Robot in Granular Media

Lei Huang, Junda Zhu, Yufeng Yuan, Yuehong Yin

RA-L 2022

Locomotion failure is the challenge for wheeled robots applied in granular media, which puts a high demand on the design of wheels. Due to a lack of a mechanical analysis method that can analyze the dynamic interaction between wheel and granular media, it is a challenge to seek design guidance for t

Cited by 18 Source ↗Scholar ↗