Papers
14
Total Citations
380
H-Index
9
About
Fan-Tien Cheng is a pioneering roboticist whose career has been defined by tackling the fundamental challenge of force distribution in complex, multiple-chain robotic systems. His seminal 1991 paper, "Optimal force distribution in multiple-chain robotic systems," which has garnered 87 citations, introduced the compact-dual linear programming method to solve the inherently underspecified problem of determining optimal contact forces and joint torques. This work, alongside his efficient formulation for closed-chain mechanisms (68 citations), established a computationally robust framework that remains essential for controlling multi-arm and multi-legged robots. Cheng also made critical contributions to singularity analysis, notably in his highly cited 1997 study on the 6-DOF PUMA manipulator (81 citations), where he developed systematic methods to identify and resolve singular configurations that cause a loss of manipulator dexterity. His research extends to robust control, where he pioneered the computed torque plus H∞ compensation method to handle payload uncertainties. With a career spanning foundational dynamics, control, and simulation, Cheng’s work has provided the theoretical and algorithmic backbone for modern robotic manipulation, enabling more reliable and efficient operation of industrial and autonomous systems.
Research Focus
Key Achievements
Top Papers
- 1Optimal force distribution in multiple-chain robotic systems87 citations · 1991
- 2Study and resolution of singularities for a 6-DOF PUMA manipulator81 citations · 1997
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- 7General Dynamic Formulation of the Force Distribution Equations14 citations · 1989
- 8Dynamic Computer Control of a Robot Leg10 citations · 1985
- 9Autonomous and universal remote control scheme9 citations · 2003
- 10Analysis and resolution of singularities for a 5-DOF GRYPHON manipulator8 citations · 2002