Chi-Lun Wang

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About

Chi-Lun Wang is a researcher specializing in bipedal locomotion and balance control for humanoid robots. His work centers on the dynamic stability of biped systems, particularly through the application of the Linear Inverted Pendulum Model (LIPM). Wang’s key contribution lies in developing a unified control framework that simultaneously regulates the Center of Mass (CoM), Capture Point (CP), and Zero-Moment Point (ZMP) using state feedback from linear system theory. This approach, detailed in his most-cited paper “Standing Push Recovery Based on LIPM Dynamics Control for Biped Humanoid Robot” (2018, 9 citations), enables robust push recovery and standing balance in biped robots. By integrating these critical dynamic states into a single control law, Wang has advanced the practical implementation of real-time balance strategies, addressing a fundamental challenge in humanoid robotics. His work bridges theoretical dynamics and applied control, offering a systematic method for enhancing robot stability under external disturbances. Wang’s research continues to influence the development of more resilient and adaptive bipedal systems, making his contributions valuable for students and engineers working on legged robotics and dynamic locomotion.