Yen-Chun Tung

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About

Yen-Chun Tung is a robotics researcher whose work centers on the intersection of humanoid robotics, dynamic balance control, and autonomous mechanical systems. Tung is best known for pioneering research into bicycle-riding humanoid robots — a technically demanding challenge that requires a machine to simultaneously pedal, balance, and steer, much as a human rider would. Their 2017 paper, "Balancing Control of a Robot Bicycle with Uncertain Center of Gravity," garnered 20 citations and introduced a miniaturized humanoid robot capable of navigating the complex dynamics of bicycle locomotion, with a particular emphasis on handlebar-based steering and balance control under conditions of uncertainty. Building on this foundation, Tung's 2018 follow-up work advanced the system further by incorporating center of gravity estimation, enabling the controller to adapt to uncertain physical parameters in real time — a significant step toward more robust and self-aware robotic systems. Together, these contributions reflect Tung's commitment to solving real-world control challenges in underactuated, dynamically unstable systems. Their research offers valuable insights for students and engineers working in humanoid robotics, adaptive control theory, and the development of biomimetic machines capable of human-like physical tasks.