CUHK LeggedRobot Lab

A LeggedRobot Group from Prof. Yun-Hui Liu Lab

The Chinese University of Hong Kong (CUHK)

About Us

The CUHK-Legged-Robot Lab focuses on bio-inspired legged robots and aims at both designing and controlling of legged robots from Prof. Liu team. Inspirations from control and intelligence of human and animal world are taken to find better solutions. Our goal is to build legged robot systems with efficient mobility, high autonomy, and reliable human-robot interaction abilities.

Interests

Optimal Control
Legged Robot Control
Reinforcement Learning In Robotics
Multidisciplinary optimization
Wheeled-legged robot
SLAM in Robotics
Humanoid Robot

People

Tianlin Zhang research assistant [2024-]

I am Tianlin Zhang, a research assistant at CUHK legged robot lab. My research interests include optimal control, visual servoing, and whole-body control. I have a lot of work experience with robots, including legged robots, UAVs, and mobile manipulators. I hope to make impactful work in the future.

CUHK LeggedRobot Lab

Sep 1, 2024

Tianlin Zhang research assistant [2024-]

Shengzhi Wang PhD Student [2023-]

My name is Shengzhi Wang, I am a Ph.D. student in the BMT group at The Chinese University of Hong Kong (CUHK), supervised by Prof. Samuel Kwok Wai Au. My research interests are legged robot locomotion, legged manipulation, whole-body control and teleoperation of legged manipulator system, and cooperation control. Recently, I am collaborating with CUHK Legged Robot Lab (CUHKLRL).

CUHK LeggedRobot Lab

Last updated on Feb 6, 2024

Hongya Zhao Mech Enginner [2024-]

An interesting guy who has passion on robots mech design.

CUHK LeggedRobot Lab

Last updated on Jan 6, 2024

Lingwei Zhang PhD Student [2024-]

My name is Lingwei Zhang and I am 24 years old. I lives in the Fanling in the northeastern part of Hong Kong and is unmarried. I’m serving in CUHK. I work overtime until 10pm every day to get home. I don’t smoke, and the wine is just a taste. Go to bed at 11 p.m. and get 8 hours of sleep every day. Before going to bed, I must drink a glass of warm water, then do 20 minutes of calisthenics, go to bed, and fall asleep immediately. As soon as the sun rises, no fatigue and stress could be left until the next day. Doctors say I’m healthy

CUHK LeggedRobot Lab

Last updated on Aug 15, 2023

Weipeng Xia Research Assistant [2023-]

I am Weipeng Xia, Research Assistant at CUHK Legged Robot Lab. My research interests includes legged locomotion and optimal control, and still exploring new methods to make legged robot more agile.

CUHK LeggedRobot Lab

Aug 15, 2023

See all

Newest Publications

A Fast Online Omnidirectional Quadrupedal Jumping Framework Via Virtual-Model Control and Minimum Jerk Trajectory Generation

Rapid Jumping framework for quadrupedal

Linzhu yue, Lingwei Zhang, Zhitao Song, Hongbo Zhang, Jinghu Dong, Xuanqi Zeng, Yunhui Liu

A Fast Online Omnidirectional Quadrupedal Jumping Framework Via Virtual-Model Control and Minimum Jerk Trajectory Generation

Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion

Xuanqi Zeng, Hongbo Zhang, Linzhu yue, Zhitao Song, Lingwei Zhang, Yunhui Liu

Evolutionary-Based Online Motion Planning Framework for Quadruped Robot Jumping

Evolutionary-Based Online Motion Planning jumping framework

Linzhu yue, Zhitao Song, Hongbo Zhang, Xuanqi Zeng, Lingwei Zhang, Yunhui Liu

Recent Publications

A Fast Online Omnidirectional Quadrupedal Jumping Framework Via Virtual-Model Control and Minimum Jerk Trajectory Generation

Linzhu yue, Lingwei Zhang, Zhitao Song, Hongbo Zhang, Jinghu Dong, Xuanqi Zeng, Yunhui Liu

Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion

Xuanqi Zeng, Hongbo Zhang, Linzhu yue, Zhitao Song, Lingwei Zhang, Yunhui Liu

Evolutionary-Based Online Motion Planning Framework for Quadruped Robot Jumping

Linzhu yue, Zhitao Song, Hongbo Zhang, Xuanqi Zeng, Lingwei Zhang, Yunhui Liu

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots

Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine

An Optimal Motion Planning Framework for Quadruped Jumping

Zhitao Song, Linzhu yue, Guangli Sun, Hongsuo Wei, Yihu Ling, Linhai Gui, Yunhui Liu

Building information modeling‐based 3D reconstruction and coverage planning enabled automatic painting of interior walls using a novel painting robot in construction

Yang Zhou, Peng Li, Zefeng Ye, Linzhu yue, Linhai Gui, Jiang Xin, Xiang Li, Yunhui Liu

Research

Humanoid robot design, control and trajectory planning

A research topic focus on using optimization approaches to give humanoid robot walking fast and stable. Will be realease on Oct 2024.

Loco-Manipulator design, control and trajectory planning

A research topic focus on using optimization approaches to control Manipulator and quadrupedal robot.

Wheel-legged robot design, control and trajectory planning

A research topic focus on using optimization approaches and Reinforcement learning to give Wheel-legged robot walking fast and stable. Will be realease soon on Oct 2024.