Ming‐Chih Chien

About

Ming-Chih Chien is a distinguished robotics and control systems researcher whose work has fundamentally advanced the field of adaptive control for robot manipulators. His research centers on three interconnected areas: adaptive control theory, impedance control, and electrically driven robotic systems, with a particular focus on addressing real-world uncertainties that challenge conventional control approaches. Chien's most celebrated contributions involve his pioneering application of the Function Approximation Technique (FAT) to robot control, enabling regressor-free adaptive controllers that sidestep the computationally burdensome regressor matrix calculations that plagued earlier methods. His 2007 paper on adaptive control for flexible-joint electrically driven robots with time-varying uncertainties (116 citations) broke new ground by moving beyond the oversimplified rigid robot assumption prevalent in the field. Complementing this, his adaptive impedance control framework (113 citations) introduced a practical scheme for constrained robot manipulators that avoids inertia matrix inversion and end-point acceleration measurements. His influential 2010 book, *Adaptive Control of Robot Manipulators: A Unified Regressor-Free Approach*, synthesized these contributions into a comprehensive framework applicable to free-space tracking, compliant motion, and flexible-joint systems alike. With cumulative citations exceeding 500 across his top works, Chien's research remains an essential reference for robotics engineers tackling uncertainty in real-world manipulation tasks.

Research Focus

Key Achievements

Top Papers

1. 1
   Adaptive Control for Flexible-Joint Electrically Driven Robot With Time-Varying Uncertainties

   116 citations · 2007
2. 2
   Adaptive Impedance Control of Robot Manipulators based on Function Approximation Technique

   113 citations · 2004
3. 3
   Adaptive Control of Robot Manipulators

   104 citations · 2010
4. 4
   Adaptive Control of Robot Manipulators: A Unified Regressor-Free Approach

   83 citations · 2010
5. 5
   Adaptive impedance controller design for flexible-joint electrically-driven robots without computation of the regressor matrix

   48 citations · 2011
6. 6
   Adaptive Control of Robot Manipulators

   21 citations · 2010
7. 7
   A ball-throwing robot with visual feedback

   19 citations · 2010
8. 8
   Adaptive control of electrically‐driven robot without computation of regressor matrix

   17 citations · 2007
9. 9
   Regressor-free adaptive impedance control of flexible-joint robots using FAT

   13 citations · 2006
10. 10
    Design of a Fat-Based Adaptive Visual Servoing for Robots with Time Varying Uncertainties

    12 citations · 2010

Key Collaborators

Contact & Links