Papers
5
Total Citations
74
H-Index
4
About
Pi-Ying Cheng’s research career bridges foundational robotics theory and practical rehabilitation technology. He is best known for developing the **Piogram symbolic method**, a pioneering algorithm for automatically deriving dynamic equations of motion for robot manipulators—work that earned 23 citations and remains a reference in robotic modeling. His 2013 comparative study of exoskeleton versus end-effector robots for gait rehabilitation, with 27 citations, directly informs modern physical therapy robotics by analyzing training methods and biomechanical outcomes. Cheng also advanced mobile robot navigation through the **D++ algorithm**, a real-time, collision-free path-planning approach that combines Dijkstra’s algorithm with sensor-based methods, published in 2010 and 2012. His contributions extend to solving inverse kinematics via symbolic representation, demonstrating a consistent focus on making complex robotic computations accessible. With a career spanning from the late 1980s to the 2010s, Cheng’s work has shaped both theoretical foundations in robot dynamics and practical applications in rehabilitation and autonomous navigation, offering lasting tools for researchers and engineers.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3Navigation of mobile robot by using D++ algorithm12 citations · 2012
- 4
- 5