Peng-Hsi Chang
Papers
2
Total Citations
20
H-Index
2
About
Peng-Hsi Chang is a robotics researcher whose work centers on bipedal locomotion and dynamic stability, with a particular focus on enabling humanoid robots to walk and recover from disturbances in real-world environments. His major contributions lie in developing control strategies that allow biped robots to counteract external perturbations—such as pushes—without falling. In his most cited work (2013, 17 citations), Chang introduced a flywheel model-based approach that uses rotary momentum to maintain walking stability under external forces, a key step toward making biped robots more resilient and practical for dynamic settings. He also advanced walking pattern generation by proposing a non-constant body height method (2013, 3 citations), which divides the gait into lowering, rising, and inverted phases to achieve more natural, human-like motion. This work challenges traditional linear inverted pendulum models and offers a more flexible framework for quasi-natural walking. Though his citation counts are modest, Chang’s research addresses foundational challenges in legged robotics—balance and perturbation recovery—that are critical for deploying robots in unstructured environments. His contributions are particularly relevant for students and researchers interested in humanoid control, dynamic walking, and real-time stability.
Research Focus
Key Achievements
Top Papers
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