Ping-Yen Chiang

Papers

Total Citations

H-Index

About

Ping-Yen Chiang is a robotics researcher whose work centers on humanoid robot kinematics and locomotion. His most notable contribution is the development of forward kinematics for the HR1-NFU humanoid robot, employing Denavit-Hartenberg notation to derive transformation matrices from the base frame to every joint. This foundational work, published in 2018, provides the mathematical framework essential for controlling the robot’s movement and posture. Chiang’s research further explores walking strategies, including a two-state gait pattern for stable bipedal locomotion. While his citation count (3) reflects a focused, early-stage impact, his contributions are critical for advancing humanoid robotics, particularly in precise kinematic modeling and gait planning. His work offers a practical reference for students and researchers tackling similar challenges in robot design and control.