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About

I-Chia Chang is a robotics researcher whose work centers on the dynamic locomotion and control of legged robots, with a particular focus on hexapod and transformable platforms. Chang’s major contributions include the development of a separated and laterally arranged two-leg (SLTL) model that enables dynamic running and turning in hexapod robots—a template that simplifies complex multi-legged motion while preserving essential turning dynamics. This work, published in 2023, has already garnered 5 citations for its novel approach to differential driving. Chang has also advanced the field by proposing a trajectory optimization strategy that simultaneously considers body tip-over stability, limb dynamics, and motion continuity, addressing the critical challenge of non-trivial limb mass in legged robots (4 citations, 2024). Additionally, Chang has analyzed the rolling dynamics of hexapod robots using a three-dimensional rolling template (4 citations, 2022) and developed a velocity estimation method for leg–wheel transformable robots that does not require a priori knowledge of ground contacts (3 citations, 2024). These works demonstrate Chang’s ability to create reduced-order models that capture essential dynamics while reducing computational complexity, making them practical for real-world robotic applications.