Jens G. Balchen
Papers
9
Total Citations
57
H-Index
4
About
Jens G. Balchen’s research career is defined by foundational contributions to robotic manipulation, control theory, and the innovative application of robotics to marine environments. His work centers on solving fundamental challenges in robot kinematics and dynamics, particularly for redundant manipulators—robots with more degrees of freedom than necessary for a task. A key contribution is his development of a general quaternion transformation representation for robotic applications, providing a computationally efficient and singularity-free method for describing robot motion, which has garnered 12 citations. Balchen also pioneered practical trajectory learning algorithms, enabling robots to improve performance through iterative practice without requiring acceleration measurements, a concept cited 10 times. His exploration of highly redundant sensing systems laid groundwork for robust, fault-tolerant robotic architectures. Notably, Balchen looked beyond the factory floor, surveying the future role of remotely operated underwater vehicles (ROVs) in mariculture, demonstrating a visionary approach to applying robotics in aquaculture. Through this body of work, spanning kinematic control, learning, and novel application domains, Balchen has shaped both the theoretical underpinnings and practical possibilities of modern robotics.
Research Focus
Key Achievements
Top Papers
- 1General quaternion transformation representation for robotic application12 citations · 2002
- 2Practical trajectory learning algorithms for robot manipulators10 citations · 2002
- 3Highly Redundant Sensing in Robotic Systems10 citations · 1990
- 4
- 5Structural Solution of Highly Redundant Sensing in Robotic Systems4 citations · 1990
- 6Cartesian Control of a Class of Redundant Manipulators4 citations · 1986
- 7Dynamic Control of Kinematically Redundant Robotic Manipulators3 citations · 1987
- 8
- 9A Positional Deviation Sensor for Training of Robots2 citations · 1988