Xiangyu Chu, Postdoctoral Fellow

Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong; Multi-scale Medical Robotics Center, Hong Kong

Biography

I am currently an honorary postdoctoral fellow in the BTM group, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, and also a postdoctoral fellow in Multi-scale Medical Robotics Center, both directed by Prof. Kwok Wai Samuel Au. Prior to my PhD study, I received B.E. and M.E. degrees at Harbin Institute of Technology, China. In the third year, I was visiting the group of Prof. Hartmut Geyer at Carnegie Mellon University.

My research interests include (teleoperated) locomotion and/or manipulation, underactuated control, bio-inspired robots, and medical robots. Keeping the interest in bio-inspired robots and their related underactuated control problems, I am also working on the topics of (teleoperated) locomotion and/or manipulation towards efficient and safe manipulation capabilities in healthcare and homecare, by combining the strengths of bio-inspired robots and medical robots.

Interests

  • (teleoperated) locomotion and/or manipulation
  • underactuated control
  • bio-inspired robots
  • medical robots

Education

  • PhD in Robotics, 2017-2021

    The Chinese University of Hong Kong

  • Visiting PhD student, 2020

    Carnegie Mellon University

  • M.E. in Control Science & Engineering, 2015-2017

    Harbin Institute of Technology

  • B.E. in Automation, 2011-2015

    Harbin Institute of Technology

Recent Posts

One paper is accepted by TRO.

Deformable Object Manipulation With Constraints Using Path Set Planning and Tracking by Jing Huang, Xiangyu Chu, Xin Ma, and K. W. Samuel Au
Last updated on Jul 18, 2023 1 min read

One paper is accepted by CASE2023.

Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study by Xiangyu Chu#, Shengzhi Wang#, Minjian Feng, Jiaxi Zheng, Yuxuan Zhao, Jing Huang, and K. W. Samuel Au
Last updated on May 27, 2023 1 min read

Two papers are accepted by ICRA2023.

Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail by Yunxi Tang, Jiajun An, Xiangyu Chu, Shengzhi Wang, Ching Yan Wong, and K. W. Samuel Au (https://arxiv.org/pdf/2209.15337.pdf) Towards Exact Interaction Force Control for Underactuated Quadrupedal Systems with Orthogonal Projection and Quadratic Programming by Shengzhi Wang, Xiangyu Chu, and K. W. Samuel Au (https://arxiv.org/pdf/2210.10238.pdf)
Last updated on Jan 17, 2023 1 min read

We will organize a workshop in ICRA2023.

Agile Movements: Animal Behavior, Biomechanics, and Robot Devices by Xiangyu Chu, Tianyu Wang, Ryuki Sato, Daniel Goldman, and Kwok Wai Samuel Au (https://sites.google.com/view/agilemovement-2023icra)
Last updated on Jan 20, 2023 1 min read

One paper is accepted by IEEE TMech.

Feedback Control for Collision-Free Nonholonomic Vehicle Navigation on SE(2) with Null Space Circumvention by Xiangyu Chu, Raymond Ng, Hesheng Wang, and Kwok Wai Samuel Au (10.1109/TMECH.2022.3186174)
Last updated on Jul 27, 2022 1 min read
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Recent Publications

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Feedback Control for Collision-Free Nonholonomic Vehicle Navigation on SE (2) With Null Space Circumvention

In this article, we present a novel feedback controller for the collision-free navigation of a class of nonholonomic vehicles based on …
DOI

Opposite Treatment on Null Space: A Unified Control Framework for a Class of Underactuated Robotic Systems With Null Space Avoidance

Design of feedback control for underactuated robotic systems (URSs) is often complex and nonintuitive due to the inherent incapability …
DOI

Operational Space Control for Planar $PA^{N-1}$ Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming

In this paper, we propose an operational space control formulation for a planar N-link underactuated manipulator ($PA^{N-1}$) with a …
DOI

A Novel Strategy for Stabilization Control of a Planar Three-Link Underactuated Manipulator with a Passive First Joint

In this paper, we present a novel control strategy for the stabilization of a planar three-link underactuated manipulator with a …
DOI

Null-space-avoidance-based orientation control framework for underactuated, tail-inspired robotic systems in flight phase

In this letter, we propose a unified framework to address underactuated orientation control problems of the tailed robot in flight …
DOI

A compliant robotic instrument with coupled tendon driven articulated wrist control for organ retraction

Organ retraction is a common and important task in minimally invasive surgery. It is a surgical technique to push aside or manipulate …
DOI