BioRoLa · Bio-inspired Robotics Laboratory · Department of Mechanical Engineering, National Taiwan University

Theses

Director

  • “Proprioceptive sensing for a legged robot,” Ph.D. Dissertation, Department of Mechanical Engineering, University of Michigan, Ann Arbor, Michigan, USA, Jun. 2005
  • “Research of passive magnetic force control system,” Master Thesis, Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, Jun. 1998

Students

D10 Tao Chen Ph.D. in Mechanical Engineering 2026, “Real-Time Pose Estimation Using a Customized Gauge and a 2D Laser Profiler with a Single Scan”
R13 Sheng-Lun Chien M.S. in Mechanical Engineering 2026, “Soft Wire Assembly Integrating Vision Guidance and Fingertip Tactile Sensing”
R13 Hsing-Chen Lee M.S. in Mechanical Engineering 2026, “Design and Implementation of an AB/AD-enabled Leg-Wheel Transformable Robot”
R13 Yu-An Xiao M.S. in Mechanical Engineering 2026, “Perception and Stable Movement of a Leg-Wheel Transformable Robot in Unknown Terrains”
R13 Kuan-Jung Huang M.S. in Mechanical Engineering 2026, “Dual-Layer State Estimation and Velocity-Bias Correction for a leg-wheel transformable Robot”
R12 Yi-Syuan Shen M.S. in Mechanical Engineering 2025, “Whole-Body Force Control Architecture on a Leg-Wheel Transformable Robot with Varying Ground Contact Points”
R12 Ya-Ting Hsu M.S. in Mechanical Engineering 2025, “Deformable Object Assembly of a Robotic Manipulator Using Sim-to-Real Transfer”
R12 Yi-Jung Lee M.S. in Mechanical Engineering 2025, “Physics-Informed Machine Learning for Surface Roughness Prediction in Robotic Arm Metal Grinding”
R12 Wei-Ting Chen M.S. in Mechanical Engineering 2025, “Development of a Novel Leg-Wheel Hybrid Robot and Its Stair-Climbing Strategy”
R12 Yen-Li Lai M.S. in Mechanical Engineering 2025, “Stair Climbing Strategy of a Leg-Wheel Transformable Robot Using Visual Feedback and Varying Leg-Wheel Contact Points”
D05 Chun Liu Ph.D. in Mechanical Engineering expected 2024, “Development of 2-DOF Spherical Mechanisms”
R11 Fan-Chien, Kao M.S. in Mechanical Engineering expected 2024, “Deformable Object Assembly of a Robotic Manipulator Using Sim-to-Real Transfer”
R11 Zhi-Ren Chen M.S. in Mechanical Engineering expected 2024, “Trajectory Planning of a Leg-Wheel Transformable Robot Jumping on Soft Terrain”
R11 Pei-Chun Huang M.S. in Mechanical Engineering expected 2024, “State Estimation on wheel leg robot”
R11 Kuan-Lun, Lu M.S. in Mechanical Engineering expected 2024, “Development of a Whole-body Control Architecture for a Wheel-legged Hybrid Quadruped Robot Based on Foot Force Tracking Control”
R10 Hua-Yu Wang M.S. in Mechanical Engineering 2023, “A Stable Wheel-to-Leg Transformation Strategy in a Leg-Wheel Transformable Robot”
R10 Shang-Ya Hsiao M.S. in Mechanical Engineering 2023, “Development of a Grinding Force Control System for High-Dynamic Grinding Tools”
R10 Jia-Xin Liu M.S. in Mechanical Engineering 2023, “Precision Calibration Technique for a Manipulator Using a High-Accuracy Laser Scanner”
R10 Yuan-Cheng Zhuang M.S. in Mechanical Engineering 2023, “Development of a Quadruped Robot with Two-DOF Leg-Wheel Module and its Legged Hybrid Control and Whole-Body Force Compensation Control”
R09 Liang-Jie Chen M.S. in Mechanical Engineering 2022, “Gait Generation, Control, and Transition of a Quadruped Robot using a Central Pattern Generator and Foot Contact Force Optimization”
R09 Jing-Yu Lai M.S. in Mechanical Engineering 2022, “Surface Roughness Estimation of Ground Workpieces Using a Data-Driven Model and Grinding Force Inputs”
R09 Yu-Ju Liu M.S. in Mechanical Engineering 2022, “Ground Contact Force Estimation of a Leg-wheel Module Using a Multi-body Dynamic Model and a Constrained Kalman Filter”
R09 Yu-Ho Chen M.S. in Mechanical Engineering 2022, “Detection of attack-induced anomaly in an industrial closed-loop system”
R08 Kuang-Chan Ho M.S. in Mechanical Engineering 2021, “Driving and control of a high-dynamic and two D.O.F. leg-wheel module”
R08 Yu-Heng Lin M.S. in Mechanical Engineering 2021, “Development of a grinding tool with high dynamics and multi-mode control”
R08 Ting-I Su M.S. in Mechanical Engineering 2021, “Substitute and optimization of legged running templates based on neural network”
R07 Ming-Wei Liu M.S. in Mechanical Engineering 2021, “Trajectory planning, defect detection, and repolishing/regrinding of an automatic polishing/grinding system”
R07 Syuan-Yu Chen M.S. in Mechanical Engineering 2020, “Development of a Novel Leg-wheel Module with Fast Transformation and Leaping Capability”
R07 Chen-Hao Chen M.S. in Mechanical Engineering 2020, “Autonomous Population System of Heterogeneous Electronic Components”
R07 Jyun-Ming Liao M.S. in Mechanical Engineering 2020, “Developing external torque observers and a virtual force sensor using machine learning dynamic models”
R07 Chi-Heng Wang M.S. in Mechanical Engineering 2020, “Q-PointNet: Intelligent Stacked-Objects Grasping Using a RGBD Sensor and a Dexterous Hand”
R06 Yu-Hsun Wang M.S. in Mechanical Engineering 2021, “A Visual Inspection Method and a Grinding Contact Force Estimation Model of Automatic Grinding Systems”
R06 Chih-Jan Kao M.S. in Mechanical Engineering 2019, “Development of reactive force analysis and force-position hybrid control model in a dynamic legged robot”
R06 Guan-Yu Tseng M.S. in Mechanical Engineering 2019, “Development of planar legged models as templates and their application to leaping/flipping and running behaviors in a quadruped robot”
R05 Wen-Shang Yang M.S. in Mechanical Engineering 2019, “Model Structure Modification and Trajectory Optimization of Legged Running Templates”
R05 Yung-Hsiu Chen M.S. in Mechanical Engineering 2018, “Manipulator trajectory planning for obstacle avoidance and energy/speed optimization based on reinforcement learning”
R05 Wei-Chun Lu M.S. in Mechanical Engineering 2018, “Development of running templates in a legged robot”
R05 Bo-Hsun Chen M.S. in Mechanical Engineering 2018, “A control strategy for dual-arm object manipulation based on fused force/position errors and learning algorithms”
R05 Ting-Hao Wang M.S. in Mechanical Engineering 2018, “Terrain classification, navigation, and gait selection in a leg-wheel transformable robot by using environmental RGBD information”
R04 Jin-Rong Tsai M.S. in Mechanical Engineering 2017, “A Fast and Low-Computation Object Grasping Method by Using Primitive-Shape Models and a Compliant Gripper with in-hand Proximity and Pressure Sensing”
R04 Wei-Jhe Wu M.S. in Mechanical Engineering 2017, “Development of a Multi-mode Elastic Actuator”
R04 Chi-Fai Wang M.S. in Mechanical Engineering 2017, “Design and Implementation of Human Following and Obstacle Avoidance on Multiple Wheeled Mobile Robots”
R04 Yun-Meng Lin M.S. in Mechanical Engineering 2017, “Dynamic Gait Generation for a Leg-Wheel Transformable Robot Based on Force Control”
R04 Chung-Sheng Chen M.S. in Mechanical Engineering 2017, “Development of a Multi-axis Force Sensor and a Force-Position Hybrid Controller for Dynamic Gait Generation in a Hexapod Robot”
R03 Chung-Li Chen M.S. in Mechanical Engineering 2016, “Development of a two-rolling-leg model with waist actuation and its application in a quadruped robot with dynamics gaits”
R03 Tsao-Kang Wang M.S. in Mechanical Engineering 2016, “Running of a hexapod robot on viscoelastic terrain by using a torque-actuated, dissipative and spring-loaded inverted pendulum model with rolling contact”
R03 Wu-Te Yang M.S. in Mechanical Engineering 2016, “Self-calibration and manipulation coordination in a dual-arm robot”
R03 Ruei-Fa Tseng M.S. in Mechanical Engineering 2016, “Development of a novel treadmill with multi-axis force measurement and its application in neural-development treatment for stroke patients”
R02 Po-Wei Tseng M.S. in Mechanical Engineering 2016, “Dynamics, state estimations, and trajectory optimization on a kangaroo robot”
R02 Hung-Sheng Lin M.S. in Mechanical Engineering 2015, “Dynamic gait generation and posture stabilization on rough terrain for a leg-wheel transformable robot”
R02 Yi-Tung Shen M.S. in Mechanical Engineering 2015, “Yabee: A robot that helps children learn and express”
R02 Tzu Han Lin M.S. in Mechanical Engineering 2015, “The development of a multi-axis force sensor and its applications on a legged robot”
R01 Chun-Kai Huang M.S. in Mechanical Engineering 2014, “Development of dynamic legged models with rolling contact and their role as templates for inducing dynamic gaits on a hexapod robot”
R01 Gin-Kai Chou M.S. in Mechanical Engineering 2014, “An intelligent outdoor robot capable of localization, navigation, obstacle avoidance, and dual-arm compliant manipulation”
R01 Yu-Chen Lin M.S. in Mechanical Engineering 2014, “Development of a sensor-rich and configuration active-changeable and passive-adaptable gripper as well as its application in automatic pick-and-place of objects with various shapes and sizes”
R01 Chia-Jui Hu M.S. in Mechanical Engineering 2014, “Development of a bio-inspired and torque-actuated dissipative spring loaded inverted pendulum model with rolling contact and its application on design, manufacture, and control of a novel multi-legged robot”
R00 Wei-Shi Chen M.S. in Mechanical Engineering 2013, “Development of a rapid leg-wheel transformable platform and its bio-inspired controlling structure”
R00 Ching-Pei Chen M.S. in Mechanical Engineering 2013, “Online gait generation and multi-sensor feedback control for a biped robot”
R00 Chang-Hao Lin M.S. in Mechanical Engineering 2013, “Development of a multi-axis force sensor integrated with motor and dynamic feedback running gait on a hexapod robot”
R00 Geng-Ping Ren M.S. in Mechanical Engineering 2013, “Multi-sensor fusion on mobile robots for intelligent navigation in outdoor environments”
R99 Ya-Cheng Chou M.S. in Mechanical Engineering 2012, “Development of climbing gait and jumping gait for a hexapod robot”
R99 Wei-Shun Yu M.S. in Mechanical Engineering 2012, “Motion control in a tiltable two-wheel robot with generalized infrastructure of robotic mechatronics”
R99 Shang-Chang Lin M.S. in Mechanical Engineering 2012, “Elasticity and damping adjustable plate fabricated by fiberglass and polyurethane composities”
R99 Ke-Jung Huang M.S. in Mechanical Engineering 2012, “A novel spring loaded inverted pendulum with rolling contact and its application on developing dynamic jogging gaits in a hexapod robot
R99 Jing-Yi Chen M.S. in Mechanical Engineering 2012, “Development of turning gait and force-feedback walking gait for a biped robot”
R98 Shen-Chiang Chen M.S. in Mechanical Engineering 2011, “Locomotion development on the leg-wheel hybrid robot”
R98 Chun-Sheng Chen M.S. in Mechanical Engineering 2011, “Mechatronics developments and trajectory control of a biped robot”
R98 Chia-Hung Tsai M.S. in Mechanical Engineering 2011, “Applications of distance sensors on a wheeled mobile robot”
R98 Yung-Jen Wen M.S. in Mechanical Engineering 2011, “Target finding and following on a wheeled mobile robot”
R97 Shao-Fan Wang M.S. in Mechanical Engineering 2010, “Design and realization of a biped robot”
R97 Jau-Ching Lu M.S. in Mechanical Engineering 2010, “Gait generation of a biped robot and construction of a measurement system”
R97 Chih-Chung Cheng M.S. in Mechanical Engineering 2010, “Design and realization of a tiltable 2-wheel mobile robot with obstacle avoidance capability”
R97 Cheng-Hsin Li M.S. in Mechanical Engineering 2010, “Applications of embedded systems on a mobile robot”
R96 Chih-Chung Ko M.S. in Mechanical Engineering 2010, “Trajectory planning and four legs coordination for stair climbing in a quadruped robot”
R96 Chi-Wei Ho M.S. in Mechanical Engineering 2009, “Implementation and design of a multi-axis inertial measurement unit”
R96 Shuan-Yu Shen M.S. in Mechanical Engineering 2009, “Design of a leg-wheel hybrid mobile robot”