CHEAH Chien Chern
Associate Professor of School of Electrical & Electronic Engineering



Phone: 6790 5385, Fax: 6793 3318
Office: S1-B1b-53
Email: ecccheah@ntu.edu.sg

Biography

Chien Chern CHEAH was born in Singapore . He received B.E. degree in Electrical Engineering from National University of Singapore in 1990, M.E. and Ph.D. degrees in Electrical Engineering, both from Nanyang Technological University , Singapore , in 1993 and 1996, respectively.

From 1990 to 1991, he worked as a design engineer in Chartered Electronics Industries, Singapore . He was a research fellow in the Department of Robotics, Ritsumeikan University , Japan from 1996 to 1998. He joined the School of Electrical and Electronic Engineering, Nanyang Technological University as an assistant professor in 1998. Since 2003, he has been an associate professor in Nanyang Technological University . In November 2002, he received the oversea attachment fellowship from the Agency for Science, Technolo gy and Research (A*STAR), Singapore to visit the Nonlinear Systems laboratory, Massachusetts Institute of Technolo gy .

He is the program chair of the International Conference on Control, Automation, Robotics and Vision 2006. He has served as program committee members of the IEEE Conference on Robotics and Automation, IEEE /RSJ International Conference on Intelligent Robots and Systems.

Research Interest

  • Adaptive Control
  • Visual Servoing
  • Robotics

Selected Research Projects

  • NA

Selected Publications

  • C. C. Cheah, C. Liu and J.J.E. Slotine, "Adaptive Jacobian Tracking Control of Robots with Uncertainties in Kinematic, Dynamic and Actuator Models", IEEE Trans. on Automatic Control, 2006 (accepted).
  • C. C. Cheah, C. Liu and J.J.E. Slotine, "Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties", International Journal of Robotic Research, Vol. 25, No. 3, pp 283-296, 2006.
  • C. C. Cheah and H. C. Liaw, "Inverse Jacobian Regulator with Gravity Compensation: Stability and Experiment", IEEE Trans. on Robotics, Vol. 21, No. 4, pp 741- 747, 2005.
  • C. C. Cheah, M. Hirano, S. Kawamura and S. Arimoto, "Approximate Jacobian Control with Task-space Damping for Robot Manipulators", IEEE Trans. on Automatic Control, Vol. 49, No. 5, pp 752- 757, May 2004.
  • C. C. Cheah, M. Hirano, S. Kawamura and S. Arimoto, "Approximate Jacobian Control for Robots with Uncertain Kinematics and Dynamics", IEEE Trans. on Robotics and Automation, Vol. 19, No. 4, pp 692- 702, 2003 
  • C. C. Cheah and D. Wang, "Learning Impedance Control for Robotic Manipulator," IEEE Trans. on Robotics and Automation, vol. 14, No. 3, pp 452-465, 1998.