Ming-Chuan Leu

About

Ming-Chuan Leu is a distinguished robotics and mechanical engineering researcher whose career has centered on advancing the theoretical and computational foundations of robotic systems. His work spans optimal trajectory generation, robot dynamics, kinematic singularity analysis, and manufacturing automation — areas that collectively shaped modern robotic engineering practice. Leu's most influential contribution, "Optimal Trajectory Generation for Robotic Manipulators Using Dynamic Programming" (1987, 136 citations), established a foundational framework for off-line trajectory planning and real-time tracking, a methodology widely adopted in industrial robotics. Complementing this, his early work on automated symbolic derivation of dynamic equations of motion (1986, 65 citations) demonstrated how computer algebra systems could dramatically streamline robot modeling, reducing laborious hand derivations to automated computation. His mathematical rigor extended to geometric analysis, with notable studies on swept volumes using Lie groups (1992, 75 citations) and a sustained investigation of kinematic singularities through differential geometry and genericity theory (1992, 59 citations), offering roboticists principled tools for understanding manipulator limitations. He also addressed practical concerns including compliance, uncertainty propagation, and PCB assembly optimization. With over 430 cumulative citations, Leu's body of work reflects both theoretical depth and engineering relevance, making his research essential reading for students studying robotic kinematics, dynamics, and intelligent automation.

Research Focus

Key Achievements

Top Papers

1. 1
   Optimal Trajectory Generation for Robotic Manipulators Using Dynamic Programming

   136 citations · 1987
2. 2
   Analysis of Swept Volume via Lie Groups and Differential Equations

   75 citations · 1992
3. 3
   Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators

   65 citations · 1986
4. 4
   Genericity and singularities of robot manipulators

   59 citations · 1992
5. 5
   Uncertainty and Compliance of Robot Manipulators with Applications to Task Feasibility

   37 citations · 1991
6. 6
   Computer generation of robot dynamics equations and the related issues

   36 citations · 1986
7. 7
   Generic singularities of robot manipulators

   20 citations · 2003
8. 8
   Generic Singularities of Robot Manipulators

   16 citations · 1988
9. 9
   Application of Linear Assignment Model for Planning of Robotic Printed Circuit Board Assembly

   15 citations · 1992
10. 10
    Effect of Mechanical Compliance on Deflection of Robot Manipulators

    9 citations · 1987

Key Collaborators

Contact & Links