Ha-Anh Truong

Papers

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About

Dr. Ha-Anh Truong is a robotics researcher specializing in humanoid robot kinematics and locomotion control. His work focuses on developing mathematical frameworks for robot motion, with a particular emphasis on forward kinematics using Denavit-Hartenberg notation. His most-cited paper, "The forward kinematics for the HR1-NFU humanoid robot" (2018, 3 citations), presents a foundational approach to modeling the HR1-NFU robot's joint transformations, establishing transformation matrices from the base frame to all joints. This work underpins a walking strategy that alternates between two states, contributing to stable bipedal locomotion. While his citation count is modest, Truong's contributions are significant for researchers building upon humanoid robot control systems, offering clear, reproducible kinematic models. His work exemplifies the essential groundwork required for advancing humanoid robotics, making him a valuable resource for students and engineers exploring robot motion planning and control.