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About

Teng-Hu Cheng is a robotics researcher whose work spans pipe inspection, multi-robot coordination, and humanoid locomotion. His most influential contribution is the development of the NTU Navigator, a lightweight, modular pipe inspection robot with fuzzy control, which has garnered 62 citations and established a foundation for practical in-pipe robotics. Cheng has also made significant advances in vision-based control, introducing a switched systems approach with dwell-time conditions that enable target localization even when objects temporarily leave the camera’s field of view—a 27-cited paper addressing a critical limitation in real-world tracking. In multi-robot systems, he tackled the challenge of maintaining communication network connectivity during decentralized rendezvous of nonholonomic robots, a 17-cited work essential for cooperative autonomy. His humanoid robotics research includes state-incremental optimal control for 3D center-of-gravity pattern generation and real-time walking stabilization without prior floor knowledge. With over 118 total citations across his most-cited works, Cheng demonstrates a consistent ability to solve practical robotics problems—from confined-space inspection to dynamic humanoid balance—making his research valuable for students and engineers working on autonomous systems, control theory, and robot design.