Our new paper entitled “Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model” is accepted by IEEE Robotics and Automation Letters (RA-L). We study the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally…

Take a look at our in-house built quadruped robot with customized motor and body designs. It is designed and built mostly by Shenggao Li (an undergraduate student in our lab). It is expected to have a high power density and is able to accomplish very agile motions. It will be a great experimental platform for…

We present a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in an end-to-end manner or rely on prior knowledge of some reference joint trajectories. Different from these studies, we propose a novel policy structure that appropriately incorporates physical insights gained from…

Prof. Dongrui Wu visited our lab at and gave a talk, entitled “Fuzzy Logic and Signal Processing/Machine Learning for Brain-Computer Interface (BCI)”. Prof. Wu is currently a Professor at the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China. He has over 120 publications, including a book “Perceptual Computing” (with…

Prof. Jing Sun visited our lab and discussed possible research collaborations in control and robotics. Prof. Sun is currently the Michael G. Parsons Collegiate Professor and the Department Chair of the Naval Architecture and Marine Engineering at the University of Michigan, Ann Arbor.  She holds 39 US patents, has co-authored a textbook, Robust Adaptive Control…

Prof. Zhang was invited to attend and gave an invited talk at the 2019 International Conference on Automation, Control and Robotics Engineering, held between July 19 – July 21, in Shenzhen, China. Prof. Zhang also chaired the Session on Robotics and presented the “Best Presentation in Session Award” during the award banquet.The conference was held…

July 9-12, Southern University of Science and Technology (SUSTech) sent its first student team to compete in the 12th International Underwater Robot Competition, hosted by Shanghai Maritime University, China. The SUSTech student team won 6 prizes in total, four 2nd prizes and two 3rd prizes.Our lab played an important role in this year’s competition. Among…

Four undergraduate students in our lab, Shenggao Li, Chunchu Zhu, Wenchun Lin, and Bolin, They received their Bachelor degree today.Shenggao will join the PhD program at the Norte Dame University, Chunchu will become a PhD student at the Case Western Reserved University, Bolin will become a MS student at University of California, San Diego, and…

Prof. Frank Chongwoo Park visited our lab and gave a talk, entitled “Manifolds, Geometry, and Robotics”.Prof. Park is currently an IEEE Fellow and the chair of the Department of Mechanical and Aerospace Engineering at the Seoul National University. Prof. Park and Prof. Zhang also visited the Han’s Robot Co. together to discuss possible collaborations in…

Dr. Hua Chen joined our lab as a research assistant professor. He received a BS degree from Zhejinag University, a PhD degree in Electrical and Computer Engineering from the Ohio State University. Before joining our lab, Dr. Chen was a Postdoctoral Researcher at the Ohio State University. His research focuses on control and optimization theory…

In collaboration with Robosea, a world-leading company in underwater robotics, we founded the SUSTech-Robosea Joint Lab on Underwater Equipment. The lab will be jointly managed by the Robotics Institute at SUSTech, the Department of Ocean Science & Engineering, and the Robosea company. It is co-directed by Prof. Guangming Xie at Beijing University and Prof. Wei…

We attended the International Conference on Robotics and Automation (ICRA) 2019, and presented our paper “Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT”.

Linfang Zheng joined our lab as a research assistant. She obtained her Bachelor and Master degrees both from the Harbin Institute of Technology. Before joining our lab, she worked at DJI. Welcome Linfang!

Analytical Convergence Regions of Accelerated First-Order Methods in Nonconvex Optimization under Regularity Condition