Ching-Pei Chen

Papers

Total Citations

124

H-Index

About

Ching-Pei Chen is a leading roboticist whose work centers on novel locomotion mechanisms and state estimation for mobile robots. Chen’s most impactful contributions lie in the design and control of omnidirectional spherical robots. In a seminal 2013 paper (76 citations), Chen detailed the creation of a ball-driven spherical robot, a breakthrough that replaced traditional wheels or flywheels with three independently controlled omnidirectional wheels inside a spherical shell. This design achieved true 3-degree-of-freedom planar mobility, a significant advancement over earlier, less agile spherical systems. Chen further refined this concept with the "Omnicron" robot (2012, 38 citations), establishing a foundational platform for research into spherical locomotion. Beyond spherical robots, Chen has made notable strides in bipedal robotics, developing a sensor data fusion algorithm using an extended Kalman filter (2015, 10 citations). This work integrates joint encoders, an IMU, and an inclinometer to accurately estimate a biped’s body state, enabling more stable walking through feedback control. With over 120 combined citations, Chen’s research is essential reading for engineers exploring non-conventional robot mobility and robust state estimation.