Po-Hsuan Chang
Purdue University West Lafayette, National Taiwan University
Papers
5
Total Citations
113
H-Index
4
About
Po-Hsuan Chang’s pioneering work in robotics has shaped the foundations of real-time simulation and control. His primary research spans robot dynamics, parallel computing, and VLSI array architectures. Chang’s most influential contribution is the development of efficient parallel algorithms for robot forward dynamics computation, enabling real-time simulation on SIMD computers—a critical advancement for high-speed robotic motion. This work, published in 1988, has garnered 66 citations and remains a cornerstone in the field. He further advanced manipulator control by designing a residue arithmetic VLSI array architecture for computing the pseudo-inverse Jacobian, achieving macro-pipelined efficiency for exact real-time solutions. Chang also explored bipedal locomotion, proposing arbitrary foot gaiting with variate center-of-mass height using ZMP mapping, and tackled the fundamental challenge of simplifying robot dynamic models without sacrificing system performance. His contributions have been recognized for their lasting impact on efficient robotic computation and control, making him a key figure in the evolution of real-time robotics.
Research Focus
Key Achievements
Top Papers
- 1Efficient parallel algorithms for robot forward dynamics computation66 citations · 1988
- 2
- 3Efficient parallel algorithms for robot forward dynamics computation8 citations · 2005
- 4Arbitrary biped robot foot gaiting based on variate COM height7 citations · 2013
- 5Simplification of robot dynamic model based on system performance4 citations · 1987