Chien-Hao Liang
Papers
2
Total Citations
78
H-Index
2
About
Chien-Hao Liang is a leading figure in the control of robotic systems during physical interactions, particularly impact and contact transitions. His research addresses the fundamental challenge of managing the rapid, high-force dynamics that occur when a robot moves from free motion to contacting an object or environment. Liang’s major contributions lie in developing adaptive, Lyapunov-based control strategies that ensure stability and limit dangerous interaction forces during these critical moments. His seminal 2008 paper, “Adaptive Lyapunov-Based Control of a Robot and Mass–Spring System Undergoing an Impact Collision,” has garnered 64 citations, establishing a foundational approach for controlling systems through the shock of collision. He further advanced this work in 2009 with a force-limiting adaptive controller for noncontact-to-contact transitions, a problem of high practical importance for preventing damage to both robots and their surroundings. By providing rigorous theoretical frameworks for these complex, short-duration events, Liang’s research is essential for enabling safer, more reliable robotic operations in assembly, manufacturing, and human-robot interaction, where controlled physical contact is unavoidable.
Research Focus
Key Achievements
Top Papers
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