Dingan Cheng
Papers
1
Total Citations
5
H-Index
1
About
Dingan Cheng is a robotics researcher specializing in legged locomotion, torque control, and compliant actuation for dynamic robotic systems. His work addresses a critical challenge in robotics: achieving precise joint torque estimation and control without relying on expensive or fragile torque sensors. In his highly cited 2019 paper, "Joint Torque Estimation for Dynamic Jumping Control of Compliant Gear-Driven Legged Robot," Cheng introduced a novel method for active torque compliance control using gear-driven actuators, eliminating the need for mechanical elastic components or dedicated torque sensors. This contribution is foundational for enabling agile, dynamic behaviors—such as jumping—in legged robots while maintaining robustness and cost-effectiveness. With over 5 citations, his research has influenced subsequent work in torque-controlled locomotion and compliant actuation. Cheng’s expertise bridges control theory and practical robot design, making his findings valuable for engineers developing next-generation legged robots for search-and-rescue, exploration, and assistive applications. His work continues to inspire advances in safe, high-performance robotic systems.
Research Focus
Key Achievements
Top Papers
- 1