Young Hwan Chang

About

Young Hwan Chang is a leading researcher in humanoid robotics, specializing in bipedal locomotion, balance control, and whole-body coordination. His work addresses fundamental challenges in making humanoid robots walk stably and efficiently, with a focus on integrating vibration suppression and robust control strategies. Chang’s most-cited paper (11 citations) introduces a balance control framework for the MAHRU-R humanoid robot, embedding motion within a CoM Jacobian structure to suppress residual vibrations during single-support phases—a critical advance for real-world bipedal stability. He further developed omni-directional walking pattern generation using quartic polynomials (8 citations) and optimized walking patterns via LQR and feedforward control (7 citations), leveraging zero moment point (ZMP) and inverted pendulum models. His work on ε-PID controllers for DC motors (4 citations) extends to humanoid robot arms, showcasing cross-domain impact. Chang’s contributions have laid essential groundwork for dynamic, adaptive humanoid walking, influencing both theoretical frameworks and practical robot design. His research continues to shape the next generation of agile, balance-aware humanoid systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Balance control in whole body coordination framework for biped humanoid robot MAHRU-R

   11 citations · 2008
2. 2
   An omni-directional walking pattern generation method for humanoid robots with quartic polynomials

   8 citations · 2007
3. 3
   Walking pattern generation for Humanoid robots with LQR and feedforward control method

   7 citations · 2008
4. 4
   On robust position control of DC motors by ∈-PID controller and its application to humanoid robot arms

   4 citations · 2008
5. 5
   VIBRATION SUPPRESSION AND BALANCE CONTROL FOR BIPED HUMANOID WALKING

   3 citations · 2008

Key Collaborators

Contact & Links