Junho Chang
Papers
6
Total Citations
43
H-Index
4
About
Junho Chang is a robotics researcher specializing in bipedal locomotion, humanoid robot control, and biomechanically inspired walking models. His work spans several decades, from early contributions to robotic singularity and redundancy control in 1989 to cutting-edge developments in biped locomotion dynamics in the 2020s. Chang's most significant contribution is the development of the Spring Loaded Inverted Pendulum with Swing Legs (SLIP-SL) model, introduced in 2020 and further refined in 2021, which has garnered 23 citations and represents a meaningful advancement over the classical SLIP template model by incorporating passive swing leg dynamics. This innovation enables more naturalistic cyclic walking in multi-body bipedal systems and provides practical reference trajectories for center of mass and swing foot motion. Beyond template modeling, Chang has investigated the role of passive biarticular muscles in improving bipedal walking performance, explored simultaneous trajectory and parameter optimization for robots using Series Elastic Actuators, and developed robust output zeroing control strategies for underactuated bipedal systems. Collectively, his research bridges biomechanical inspiration with practical control engineering, offering the robotics community principled tools for achieving stable, efficient, and human-like locomotion in complex robotic platforms.
Research Focus
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Top Papers
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