Yi‐Chung Lin

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About

Yi-Chung Lin’s research focuses on the intersection of bipedal locomotion, real-time balance control, and embedded systems for humanoid robotics. His major contributions center on enabling small-sized humanoid robots to maintain stability and recover from external disturbances, such as pushes, during walking. In his most-cited work, “Bipedal walking with push recovery balance control involves posture correction” (2019, 7 citations), Lin explores how posture correction mechanisms can be integrated into walking gaits to enhance balance. His 2020 paper, “Real-Time FPGA-Based Balance Control Method for a Humanoid Robot Pushed by External Forces” (6 citations), introduces a novel control architecture implemented on an FPGA chip. This system comprises four key modules—external force detection, push recovery balance control, trajectory generation, and actuator command—allowing for rapid, hardware-level response to perturbations. By leveraging FPGA technology, Lin achieves the low-latency processing essential for real-time stability in dynamically challenging environments. His work is notable for bridging theoretical balance algorithms with practical, hardware-accelerated solutions, offering a scalable approach for autonomous robots operating in unpredictable settings. Lin’s research holds significant implications for advancing humanoid robots in assistive, search-and-rescue, and industrial applications where robust balance is critical.