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Ken Chen

Ph.D and Professor of Mechanical Engineering

Department of Mechanical Engineering

Tsinghua University, Beijing 100084, China

Tel: +86-10-62773266,Fax: +86-10-62773266


Education background


Ph.D. in Mechanical Engineering


M.S. in Mechanical Engineering


B.S. in Mechanical Engineering



Professor (1998/12 – present),Associate Professor (1995/02 – 1998/12)


Post-doctor Researcher (1991/12 – 1995/02)


Visiting Professor (1990/09 – 1991/11)


Associate Professor(1988/12 – 1991/11)

Teaching work

Undergraduate Level

Robot Technology and Application(40130872) (38 students in falling 2003-2010)

Advanced Manufacturing Tech.(30130323)(70 studentsinfalling 2004-2009)

Manufacturing System(40130042)(120 students in falling 2001-2003)

Graduate Level

Robot and Bionics(80130192)(15 students in falling 2002-2010)

Areas of Research Interests/ Research Projects

-Robotics and Bionics

-Special Manipulating and Mobile Robots

-Humanoid Robots and Bio-Robots

-Integration and Automation for Mechatronic system

Honors And Awards

Over 60 scientific research projects

Over 200 scientific research publications

Over 70 national and international patents

Chinese National Young Prize of Science and Technology in 1988

Chinese Army Force Award, 2nd Classin 2005

China Aviation Industrial Science and Technology Award, 2nd Class in 2012

Beijing Teaching AchievementsAward,1nd Class in 2009.

Tsinghua University Teaching AchievementsAward,1nd Classin 2008.

Academic Achievement

1. CHEN Ken, Fu Chenglong, Theory and Technologyof Humanoid Robot, Publishing Company of Tsinghua University, 2010(ISBN978-7-302-22544-7)

2. Fu Chenglong, Liu Zhao, Ken Chen, “Section-Map Stability Criterion for Biped Robots”, one chapter in the book“Biped Robots”, 2011, Armando Carlos Pina Filho (Ed.), ISBN: 978-953-307-216-6, InTech

3. Xia Zeyang, Xiong Jing and Chen Ken. Global Navigation for Humanoid Robots Using Sampling-Based Footstep Planners. IEEE/ASME Transaction on Mechantronics. 2011. 16(4):716-723

4. Fu Chenglong, Tan Feng, Chen Ken. A simple walking strategy for biped walking based on an intermittent sinusoidal oscillator. Robotica. Vol.28, No.6, pp 869-884, 2010

5. Xia Zeyang, Xiong Jing and Chen Ken. Parameter self-adaptation in biped navigation employing nonuniform randomized footstep planner. Robotica. 2010, 28(6): 929-936.

6. Fu Chenglong, Chen Ken. Gait synthesis and sensory control of stair-climbing for a humanoid robot. IEEE Transaction on Industrial Electronics. Vol.55, No.5, pp 2111-2120, 2008.

7. Xia Zeyang, Liu Li, Xiong Jing, Yi Qiang and Chen Ken. Design aspects and development of humanoid robot THBIP-2. Robotica. 2008, 26(1): 109-116.

8. Fu Chenglong, Chen Ken, et al. Stability and control of dynamic walking for a five-link planar biped robot with feet. J. of Control Theory and Applications. 2007,5(2):113-120.

9. Fu Chenglong, Chen Ken, et al.Design and Implementation of Dynamic Walking Biped Robot THR-I. Robot. 2007.

10. Jing. Xu, Chen Ken, et al. The Robotic System of Microwave Coagulation Therapy for Liver Cancer Based on Ultrasound Navigation. Robot,2007,29(6)

11. Luo yangyu, Chen ken et al.Mapping Method in Robot-aided Ultrasound-guided Microwave Coagulation Therapy System. Chinese Mechanical Engineering. 2007,18(5).

12. Luo yangyu, Chen ken et al.Backdrivability Design of Robot Mechanism. Chinese J of Mechanical Eng.,2007, Vol.43(6).

13. JiaZhenzhong, Chen ken. Development of Contact Printing Arrayer and Related Technologies. Robot. 2007,29(2)

14. Xia zeyang, Chen Ken. Design Aspects and Development of Humanoid Robot THBIP-2. Robotica,2007

15. Xia zeyang, Chen Ken. Analysis and Estimation of Study on Motion Planning for Humanoid Robots. Chinese High Technology Letters, 2007, Vol.10.

16. Xia zeyang, Chen Ken. Experimental analysis on human locomotion for natural gait planning of humanoid robots. Robot. 2007,29(5).

17. Song Zhangjun, Chen Ken. Kinematic Modeling and Characteristic Analysis for Wheeled Mobile Robots in Round Ducts-Pipes. Robot. 2006.28(6) :636-641.

18. Fu Chenglong, Chen Ken. Gait Planning and Nonlinear Control of Dynamic Walking for a Five-link, Four-actuator, Planar Biped Robot. Robot,2006,28(2):206-212.

19. Fu Chenglong, Chen Ken.Research Progress on Stability and Control Strategy for Biped Robots”.Chinese High Technology Letters,2006,16(3): 319-324.

20. Shuai Mei, Chen Ken et al. Control Strategy about Humanoid Robot Stable Locomotion on Uneven Ground”. Chinese Journal of Mechanical Engineering. 2006,42(8):1-6.

21. Luo Yangyu, Chen Ken et al. Stability Design of a Stiffness-Controlled Robot Mechanism. Journal of Tsinghua University (Science and Technology), 2006,46(5):653-657.

22. Xu Kai, Chen Ken et al. Walking Gait Compensation Algorithm for Humanoid Robots Based on Universal Force-Moment Sensors and Joint Torques. Robot,2006,28(2),213 -218.

23. Yuta Hoshino, Fu Chenglong, Chen Ken. A Walking Strategy for a Biped Robot with a Torso by a Spring and a Damper. IEEE International Conference on Mechatronics and Automation. Beijing, China. August, 2011

24. Tan Feng, Fu Chenglong, Chen Ken. Biped Blind Walking on Changing Slope with Reflex Control System.IEEE International Conference on Robotics and Automation (ICRA 2010). Anchorage, Alaska, USA. May 2010. 1709-1714.

25. Zhang Chuanqing,Ken Chen, Shao Junyi,Xiangdong Yang, A Multi-agent Based Manipulator Controller Using TMS320F2810 DSP, EDERC 2010

26. Liu, Zhao, Fu, Chenglong, Chen, Ken, Koike, Yoshinori, Hirata, Yasuhisa, Kosuge, Kazuhiro, Motion Control of A Passive Robot for Dancing with A Male Dancer, 2010 8th World Congress on Intelligent Control and Automation (WCICA 2010), 2010,pp.6590-6595

27. Liu Fei, Wu Dan,Chen Ken. Numerical Simulation of Biological Cells in Microinjection. 4th TU-SNU-UT Joint Symposium, March 12-13, 2010,

28. Xia Zeyang, Chen Guodong,JiaZhenzhong, Xiong Jing, Chen Ken. Human walking capture and its inspiration to biped gait planning. IEEE International Conference on Mechatronics and Automation. 2009. 926-930.

29. Chen Y, Shao J, Chen K, et al. Redundant-robot-based painting system for variable cross-section S-shape pipe. Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, London, United kingdom, 2009: 743-749.

30. Xia, Zeyang, Chen Guodong, Xiong Jing, Zhao Qunfei, Chen Ken. A random sampling-based approach to goal-directed footstep planning for humanoid robots.IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 2009. 168-173.

31. Xia Zeyang, Chen Ken,He Yeming. Modeling and Motion Planning of the Infant-size Humanoid Robot THBIP-II.IEEE-RAS International Conference on Humanoid Robots. 2008, 577-582.

32. Jing. Xu, Ken Chen, etc. Adaptive Level Set Method for Segmentation of Liver Tumors in Minimally Invasive Surgery Using Ultrasound Images, IEEE ICBBE2007, 2007

33. Xia Zeyang, Chen Ken, Modeling and motion planning of the infant-size humanoid robot THBIP-II, IEEE/RAS Int'l Conf. on Humanoid Robots, Pittsburgh, USA, Nov.2007.

34. Fu Chenglong, Chen Ken, et al. Section-map stability criterion for biped robots - Part I: Theory.Proc. of the IEEE International Conference on Mechatronics and Automation (ICMA). Harbin, China. August, 2007.

35. Fu Chenglong, Chen Ken, et al. Section-map stability criterion for biped robots - Part II: Applications and Experiments.Proc. of the IEEE International Conference on Mechatronics and Automation (ICMA). Harbin, China. August, 2007.

36. Liu Zhao, Chen Ken, Liu Li, A Uniform Gait Generation Method for RoboCup Humanoid Robot Based on Genetic Algorithms, ICMA 2006

37. Fu Chenglong, Shuai Mei, Huang Yuanlin, Wang Jianmei, Chen Ken. Parametric walking patterns and optimum atlases for underactuated biped robots. IEEE/RSJ International Conference on Intelligent Robots and Systems.Beijing, China. October, 2006. 342-347.

38. Fu Chenglong, Shuai Mei, Chen Ken. Proving asymptotic stability of dynamic walking for a five-Link biped robot with feet.IEEE International Conference on Robotics, Automation, and Mechatronics. Bangkok, Thailand. June 2006. 187-192.

39. Fu C, Shuai M, Xu K, Zhao J, Wang J, Huang Y, Chen K. Planning and control for THBIP-I humanoid robot. IEEE International Conference on Mechatronics and Automation.Luoyang, China. June, 2006. 1066-1071.

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