Siang-Jyun Chan

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About

Siang-Jyun Chan is a pioneering figure in robotics, best known for foundational contributions to the dynamic control of non-conventional mobile robots and manipulator systems. His most impactful work centers on the **self-balancing and position control of ball robots (Ballbots)**. In his seminal 2010 paper, Chan introduced a novel multi-loop control approach for a ball robot driven by an inverse mouse-ball mechanism with two independent brushless motors. By developing a completely non-decoupling dynamic model, he demonstrated a robust strategy for achieving stable self-balancing and precise position control—a critical challenge in this class of underactuated systems. This work, which has garnered **22 citations**, remains a key reference for researchers exploring spherical mobile robots. Earlier, Chan also contributed to industrial robotics with a 1991 paper on **decoupling control for robot manipulators**, proposing a feedforward compensation method to mitigate dynamic perturbations using a reference model. Though less cited, this work reflects his long-standing interest in simplifying complex control problems. Chan’s research bridges theoretical control design and practical implementation, offering elegant solutions for inherently unstable systems. His legacy lies in advancing the understanding of how to tame complex dynamics, inspiring subsequent work in mobile and service robotics.