Papers
18
Total Citations
711
H-Index
9
About
Chi-Haur Wu is a pioneering roboticist whose foundational work on robot kinematics, accuracy, and force control has shaped modern manipulator design and automation. His research centers on kinematic error modeling, calibration, and compliance control—critical for achieving the precision required in industrial and surgical robotics. Wu’s seminal 1986 paper on robot accuracy analysis, with 244 citations, introduced a linear model for positioning errors due to kinematic imperfections, a cornerstone for subsequent calibration methods. His 1980 work on manipulator compliance via joint torque control (117 citations) advanced force sensing for assembly tasks, while his 1982 development of Resolved Motion Force Control (82 citations) enabled Cartesian force-position coordination, overcoming classical joint control limitations. Wu also contributed to medical robotics, notably in a 1995 study on robot-assisted total knee replacement (37 citations), demonstrating real-world impact. His 2005 calibration algorithm (82 citations) remains influential for compensating geometric errors. With over 670 cumulative citations, Wu’s legacy lies in bridging theoretical kinematics with practical robot accuracy and control, making him a key figure in precision manipulation.
Research Focus
Key Achievements
Top Papers
- 1Robot accuracy analysis based on kinematics244 citations · 1986
- 2Manipulator compliance based on joint torque control117 citations · 1980
- 3A method for calibrating and compensating robot kinematic errors82 citations · 2005
- 4Resolved Motion Force Control of Robot Manipulator82 citations · 1982
- 5The Kinematic Error Model for the Design of Robot Manipulator44 citations · 1983
- 6Total knee replacement37 citations · 1995
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- 9Design of a Controlled Spatial Curve Trajectory for Robot Manipulations15 citations · 1991
- 10Estimation of the accuracy of a robot manipulator8 citations · 1985