Chien Chern Cheah
Papers
152
Total Citations
5,257
H-Index
39
About
Chien Chern Cheah is a prominent robotics and control systems researcher whose work has fundamentally advanced our understanding of adaptive robot control under uncertainty. Based at Nanyang Technological University, his research spans robot motion control, swarm robotics, human-robot interaction, and biomedical applications, with a body of work that has accumulated over 2,000 citations across his most influential contributions alone. Cheah is perhaps best known for systematically solving the long-standing challenge of concurrent adaptation to both kinematic and dynamic uncertainties in robot control—a problem that had resisted solution for nearly two decades. His approximate Jacobian control framework (2003, 270 citations) and adaptive Jacobian tracking methods (2006, 248–314 citations) established new theoretical foundations for controlling robots that handle tools of uncertain geometry, revolutionizing Cartesian-space trajectory control. His 2009 paper on region-based shape control for robot swarms (387 citations) demonstrated visionary leadership in multi-robot coordination. Beyond manipulation, Cheah extended his expertise into rehabilitation robotics, ankle exoskeleton control, and even optical trapping of biological cells, showcasing remarkable interdisciplinary breadth. His enduring influence makes him an essential reference for any researcher working at the intersection of adaptive control, robotics, and human-machine systems.
Research Focus
Key Achievements
Top Papers
- 1Region-based shape control for a swarm of robots387 citations · 2009
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- 3Approximate jacobian control for robots with uncertain kinematics and dynamics270 citations · 2003
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- 5Learning impedance control for robotic manipulators167 citations · 1998
- 6Feedback control for robotic manipulator with an uncertain Jacobian matrix139 citations · 1999
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- 8Dynamic trapping and manipulation of biological cells with optical tweezers117 citations · 2013
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