Huan-Kun Hsu

About

Huan-Kun Hsu is a leading researcher in intelligent robotics, specializing in fault diagnosis, humanoid locomotion, and whole-body control. His work bridges the gap between theoretical control systems and practical robotic applications, with a focus on enhancing robot autonomy and safety. Hsu’s most cited paper (31 citations) introduces an intelligent fault detection system for industrial robots using principal component analysis and Nelson rules, enabling real-time health evaluation—a critical contribution to manufacturing reliability. He has also advanced inverse dynamics modeling for robotic manipulators (27 citations) by leveraging structured reproducing kernel Hilbert spaces, eliminating the need for prior kinematic data. In humanoid robotics, Hsu developed a push-recovery strategy based on the centroidal moment pivot (CMP) criterion and angular momentum regulation (11 citations), allowing robots to withstand large external forces. His notable achievements include creating a simulation and control platform for the NINO humanoid robot and optimizing system identification with physical consistency constraints. With over 80 total citations, Hsu’s research is widely recognized for its practical impact on industrial automation and humanoid stability, making him a key figure in modern robotics engineering.

Research Focus

Key Achievements

Top Papers

1. 1
   Intelligent Fault Detection, Diagnosis and Health Evaluation for Industrial Robots

   31 citations · 2021
2. 2
   Learning the Inverse Dynamics of Robotic Manipulators in Structured Reproducing Kernel Hilbert Space

   27 citations · 2015
3. 3
   Humanoid robot push-recovery strategy based on CMP criterion and angular momentum regulation

   11 citations · 2015
4. 4
   A humanoid robotics simulation and control platform for NINO

   6 citations · 2016
5. 5
   Optimized System Identification of Humanoid Robots with Physical Consistency Constraints and Floating-based Exciting Motions

   4 citations · 2022
6. 6
   A real-time optimal energy-saving walking pattern generator based on gradient descent method and linear quadratic control

   3 citations · 2019
7. 7
   Lifting motion planning for humanoid robots

   3 citations · 2014
8. 8
   Whole-body momentum control with linear quadratic state incremental walking pattern generation and a centroidal moment pivot balancing strategy for humanoid robots

   2 citations · 2022

Key Collaborators

Contact & Links