Wei-Hsi Chen
Papers
6
Total Citations
495
H-Index
6
About
Wei-Hsi Chen is a pioneering roboticist whose work centers on the design and control of transformable mobile robots, particularly those that seamlessly integrate legged and wheeled locomotion. His major contributions lie in developing novel hybrid platforms that overcome the traditional trade-off between speed on flat terrain and agility on rough ground. Chen’s most influential work, the Quattroped robot (231 citations), introduced a unique four-leg/four-wheel transformable mechanism, setting a new standard for efficient, multi-modal mobility. He later advanced this concept with the TurboQuad robot (123 citations), which achieved smooth, fast behavioral transitions between wheeled and legged gaits, including dynamic trotting and walking. Chen also made notable contributions to spherical robotics, designing omnidirectional ball-driven systems like Omnicron (38 citations), which use internal omnidirectional wheels for precise planar motion. His work on model-based dynamic gait generation, using the rolling spring-loaded inverted pendulum (R-SLIP) model, has provided a theoretical foundation for stable, high-speed locomotion in hybrid robots. With over 495 total citations, Chen’s research continues to inspire new generations of versatile, terrain-adaptive robots.
Research Focus
Key Achievements
Top Papers
- 1Quattroped: A Leg--Wheel Transformable Robot231 citations · 2013
- 2
- 3Design and implementation of a ball-driven omnidirectional spherical robot76 citations · 2013
- 4Design and implementation of an omnidirectional spherical robot Omnicron38 citations · 2012
- 5TurboQuad: A leg-wheel transformable robot using bio-inspired control16 citations · 2014
- 6Model-based dynamic gait generation for a leg-wheel transformable robot11 citations · 2015