The Chinese University of Hong Kong(CUHK) LeggedRobot Lab

The Chinese University of Hong Kong(CUHK) LeggedRobot Lab

A LeggedRobot Group from Prof. Yun-Hui Liu Lab

Yunhui Liu (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. Yunhui 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.
The Chinese University of Hong Kong(CUHK) LeggedRobot Lab
Sep 1, 2024
Github Publish
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).
The Chinese University of Hong Kong(CUHK) LeggedRobot Lab
Last updated on Feb 6, 2024
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Shengzhi Wang PhD Student [2023-]
Hongya Zhao Mech Enginner [2024-]
An interesting guy who has passion on robots mech design.
The Chinese University of Hong Kong(CUHK) LeggedRobot Lab
Last updated on Jan 6, 2024
Hongya Zhao Mech Enginner [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
The Chinese University of Hong Kong(CUHK) LeggedRobot Lab
Last updated on Aug 15, 2023
Lingwei Zhang PhD Student [2024-]
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.
The Chinese University of Hong Kong(CUHK) LeggedRobot Lab
Aug 15, 2023
Weipeng Xia Research Assistant [2023-]
See all

Newest Publications

Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains
Online Omnidirectional Jumping Trajectory Planning
Linzhu yue, Zhitao Song, Jinghu Dong, Zhongyu Li, Hongbo Zhang, Lingwei Zhang, Xuanqi Zeng, Koushil Sreenath, Yunhui Liu
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Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data
Traversability-Aware Legged Navigation by Learning
Hongbo Zhang, Zhongyu Li, Xuanqi Zeng, Laura Smith, Kyle Stachowicz, Dhruv Shah, Linzhu yue, Zhitao Song, Weipeng Xia, Sergey Levine, Koushil Sreenath, Yun-hui Liu
PDF Cite Video
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data
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
PDF Cite Video
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
Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion
Xuanqi Zeng, Hongbo Zhang, Linzhu yue, Zhitao Song, Lingwei Zhang, Yunhui Liu
Cite
Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion
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
Cite
Evolutionary-Based Online Motion Planning Framework for Quadruped Robot Jumping

Recent Publications

Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains
Linzhu yue, Zhitao Song, Jinghu Dong, Zhongyu Li, Hongbo Zhang, Lingwei Zhang, Xuanqi Zeng, Koushil Sreenath, Yunhui Liu
PDF Cite Video
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data
Hongbo Zhang, Zhongyu Li, Xuanqi Zeng, Laura Smith, Kyle Stachowicz, Dhruv Shah, Linzhu yue, Zhitao Song, Weipeng Xia, Sergey Levine, Koushil Sreenath, Yun-hui Liu
PDF Cite Video
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
PDF Cite Video
Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion
Xuanqi Zeng, Hongbo Zhang, Linzhu yue, Zhitao Song, Lingwei Zhang, Yunhui Liu
Cite
Evolutionary-Based Online Motion Planning Framework for Quadruped Robot Jumping
Linzhu yue, Zhitao Song, Hongbo Zhang, Xuanqi Zeng, Lingwei Zhang, Yunhui Liu
Cite
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
PDF Cite Code Video
An Optimal Motion Planning Framework for Quadruped Jumping
Zhitao Song, Linzhu yue, Guangli Sun, Hongsuo Wei, Yihu Ling, Linhai Gui, Yunhui Liu
PDF Cite Video
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
PDF Cite DOI

Research

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All Optimal Control Reinforcement Learning Legged Robot Other
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.
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Humanoid robot design, control and trajectory planning
Loco-Manipulator design, control and trajectory planning
A research topic focus on using optimization approaches to control Manipulator and quadrupedal robot.
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Loco-Manipulator design, control and trajectory planning
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.
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Wheel-legged robot design, control and trajectory planning
Quadruped jumping with optimal control
A research topic focus on using optimization approaches to give legged robot jumping ability.
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Quadruped jumping with optimal control

Recent & Upcoming Talks

Robust output regulation for autonomous robots
Welcome and many thanks for Dr. Wu Hai Wen to share his PhD works " Robust output regulation for autonomous robots"
Nov 20, 2022 8:30 PM — 10:30 PM ERB 106
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Robust output regulation for autonomous robots
An energy-efficiency design optimization framework for legged robots
Regular paper sharing sessions are held every Sunday with whiteboard write the formulas. This time reported by Zhitao, which give us detalis for his research.
Nov 6, 2022 8:30 PM — 10:30 PM ERB 106
An energy-efficiency design optimization framework for legged robots
VBL Representation-Free Model Predictive Control
Regular paper sharing sessions are held every Sunday with whiteboard push formulas, this time reported by Ling Wei
Sep 10, 2022 7:00 PM — 9:00 PM ERB 106
VBL Representation-Free Model Predictive Control

Posts

The Chinese University of Hong Kong(CUHK) LeggedRobot Lab, Linzhu yue, Zhitao Song, Hongbo Zhang, Lingwei Zhang, Xuanqi Zeng, Hongya Zhao, Shengzhi Wang, Weipeng Xia
Mar 25, 2024 1 min read
CUHK LRL Group Hiking Day
CUHK LRL Group Hiking Day

We go to hiking in Shenzhen Wutong Mountain.
The Chinese University of Hong Kong(CUHK) LeggedRobot Lab, Linzhu yue, Zhitao Song, Hongbo Zhang, Dingtong Xiao, Lingwei Zhang, Xuanqi Zeng, Zhongyu Li
Last updated on Jul 27, 2023 1 min read
CUHK Robotics Open Day
CUHK Robotics Open Day

We showcase our sirius robot with a robot arm at this day.

Join Us

If you have interesting in legged robot, you can contact us (FYP, RA, MSC or Future PhD Student).