Abstract:
Grasping and manipulating various kinds of objects cooperatively is the core skill of a dual-arm robot when deployed as an autonomous agent in a human-centered environmen...Show MoreMetadata
Abstract:
Grasping and manipulating various kinds of objects cooperatively is the core skill of a dual-arm robot when deployed as an autonomous agent in a human-centered environment. This requires fully exploiting the robot's versatility and dexterity. In this work, we propose a general framework for dual-arm manipulators that contains two correlative modules. The learning-based dexterity-reachability-aware perception module deals with vision-based bimanual grasping. It employs an end-to-end evaluation network and probabilistic modeling of the robot's reachability to deliver feasible and dexterity-optimum grasp pairs for unseen objects. The optimization-based versatility-oriented control module addresses the online cooperative manipulation control by using a hierarchical quadratic programming formulation. Self-collision avoidance and dual-arm manipulability ellipsoid tracking with high reliability and fidelity are simultaneously achieved based on a learned lightweight distance proxy function and a speed-level tracking technique on Riemannian manifold. Intrinsic system safety is guaranteed, and a novel interface for skill transfer is enabled. A long-horizon rearrangement experiment, a bimanual turnover manipulation, and multiple comparative performance evaluation verify the effectiveness of the proposed framework.
Published in: IEEE Transactions on Robotics ( Volume: 40)
Tencent Robotics X Lab, Tencent Binhai Mansion, Shenzhen, China
Yi Ren (Member, IEEE) received the B.Sc. degree in thermal energy and power engineering from Harbin Institute of Technology, Harbin, China, in 2011, and the M.Sc. and Ph.D. degrees in mechatronics engineering from the State Key Laboratory of Robotics and System, Harbin Institute of Technology, in 2013 and 2017, respectively.
From 2018 to 2020, he was a Postdoctoral Fellow and Senior Scientist in electrical engineering with...Show More
Yi Ren (Member, IEEE) received the B.Sc. degree in thermal energy and power engineering from Harbin Institute of Technology, Harbin, China, in 2011, and the M.Sc. and Ph.D. degrees in mechatronics engineering from the State Key Laboratory of Robotics and System, Harbin Institute of Technology, in 2013 and 2017, respectively.
From 2018 to 2020, he was a Postdoctoral Fellow and Senior Scientist in electrical engineering with...View more
Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany
Zhehua Zhou received the B.Eng. degree in mechatronics engineering from Tongji University, Shanghai, China in 2014, and the M.Sc. degree in electrical and computer engineering in 2017 from the Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany, where he is currently working toward the Ph.D. degree in learning-based control and robotics with the Chair of Automatic Control Eng...Show More
Zhehua Zhou received the B.Eng. degree in mechatronics engineering from Tongji University, Shanghai, China in 2014, and the M.Sc. degree in electrical and computer engineering in 2017 from the Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany, where he is currently working toward the Ph.D. degree in learning-based control and robotics with the Chair of Automatic Control Eng...View more
Tencent Robotics X Lab, Tencent Binhai Mansion, Shenzhen, China
Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany
Ziwei Xu received the B.Sc. degree in electrical engineering from the Karlsruhe Institute of Technology, Karlsruhe, Germany, in 2018, and the M.Sc. degree in electrical engineering and information technology from the Technical University of Munich, Munich, Germany, in 2022.
He is currently an internship Researcher with Tencent Robotics X Lab, Shenzhen, China. His research interests include multirobot cooperation and human-...Show More
Ziwei Xu received the B.Sc. degree in electrical engineering from the Karlsruhe Institute of Technology, Karlsruhe, Germany, in 2018, and the M.Sc. degree in electrical engineering and information technology from the Technical University of Munich, Munich, Germany, in 2022.
He is currently an internship Researcher with Tencent Robotics X Lab, Shenzhen, China. His research interests include multirobot cooperation and human-...View more
School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
Yang Yang (Senior Member, IEEE) received the B.Sc. degree in mechanical design manufacturing and automation, and the M.Sc. degree in mechatronics engineering from Harbin Institute of Technology, Harbin, China, in 2011 and 2013 respectively, and the Ph.D. degree in mechanical engineering from the University of Hong Kong, Hong Kong, China, in 2017.
From 2017 to 2020, he was a postdoc Fellow both with the University of Hong K...Show More
Yang Yang (Senior Member, IEEE) received the B.Sc. degree in mechanical design manufacturing and automation, and the M.Sc. degree in mechatronics engineering from Harbin Institute of Technology, Harbin, China, in 2011 and 2013 respectively, and the Ph.D. degree in mechanical engineering from the University of Hong Kong, Hong Kong, China, in 2017.
From 2017 to 2020, he was a postdoc Fellow both with the University of Hong K...View more
Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Munich, Germany
Guangyao Zhai (Graduate Student Member, IEEE) received the B.Eng. degree in automation from the Northwestern Polytechnical University, Xi'an, China, in 2018, and the M.Sc. degree in control science and engineering from the Zhejiang University, Hangzhou, China, in 2021. He is currently working toward the Ph.D. degree in computer science with the Technical University of Munich, Munich, Germany.
His research interests include...Show More
Guangyao Zhai (Graduate Student Member, IEEE) received the B.Eng. degree in automation from the Northwestern Polytechnical University, Xi'an, China, in 2018, and the M.Sc. degree in control science and engineering from the Zhejiang University, Hangzhou, China, in 2021. He is currently working toward the Ph.D. degree in computer science with the Technical University of Munich, Munich, Germany.
His research interests include...View more
Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany
Marion Leibold (nee Sobotka) (Member, IEEE) received the diploma degree in applied mathematics from the Technical University of Munich, Munich, Germany, in 2002, and the Ph.D. degree from the Faculty of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany, in 2007.
She is currently a Senior Researcher with the Institute of Automatic Control Engineering, Faculty of Electrical En...Show More
Marion Leibold (nee Sobotka) (Member, IEEE) received the diploma degree in applied mathematics from the Technical University of Munich, Munich, Germany, in 2002, and the Ph.D. degree from the Faculty of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany, in 2007.
She is currently a Senior Researcher with the Institute of Automatic Control Engineering, Faculty of Electrical En...View more
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Fenglei Ni received the B.S. and M.S. degrees in electrical engineering and the Ph.D. degree in mechanical engineering from Harbin Institute of Technology (HIT), Harbin, China, in 1998, 2002, and 2007, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and Systems, HIT. His research interests include ac motor drives, space robotics, and robot control technologies.
Fenglei Ni received the B.S. and M.S. degrees in electrical engineering and the Ph.D. degree in mechanical engineering from Harbin Institute of Technology (HIT), Harbin, China, in 1998, 2002, and 2007, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and Systems, HIT. His research interests include ac motor drives, space robotics, and robot control technologies.View more
Tencent Robotics X Lab, Tencent Binhai Mansion, Shenzhen, China
Zhengyou Zhang (Fellow, IEEE) received the B.Sc. degree in electronic engineering from Zhejiang University, Hangzhou, China, in 1985, the M.Sc. degree in computer science from the University of Nancy, Nancy, France, in 1987, and the Ph.D. degree in computer science and the Doctor of Science (Habilitation à diriger des recherches) diploma from the University of Paris XI, Paris, France, in 1990 and 1994, respectively.
From 1...Show More
Zhengyou Zhang (Fellow, IEEE) received the B.Sc. degree in electronic engineering from Zhejiang University, Hangzhou, China, in 1985, the M.Sc. degree in computer science from the University of Nancy, Nancy, France, in 1987, and the Ph.D. degree in computer science and the Doctor of Science (Habilitation à diriger des recherches) diploma from the University of Paris XI, Paris, France, in 1990 and 1994, respectively.
From 1...View more
Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany
Martin Buss (Fellow, IEEE) received the diploma degree in electrical engineering from the Technische Universität Darmstadt, Darmstadt, Germany, in 1990, and the Ph.D. degree in electrical engineering from The University of Tokyo, Tokyo, Japan, in 1994.
From 1994 to 1995, he was a postdoctoral Researcher with the Department of Systems Engineering, Australian National University, Canberra, ACT, Australia. From 1995 to 2000, ...Show More
Martin Buss (Fellow, IEEE) received the diploma degree in electrical engineering from the Technische Universität Darmstadt, Darmstadt, Germany, in 1990, and the Ph.D. degree in electrical engineering from The University of Tokyo, Tokyo, Japan, in 1994.
From 1994 to 1995, he was a postdoctoral Researcher with the Department of Systems Engineering, Australian National University, Canberra, ACT, Australia. From 1995 to 2000, ...View more
Tencent Robotics X Lab, Tencent Binhai Mansion, Shenzhen, China
Yu Zheng (Senior Member, IEEE) received the B.Eng. degrees in both mechanical engineering and computer science and the Ph.D. degree in mechatronics from Shanghai Jiao Tong University, Shanghai, China, in 2001 and 2007, respectively, and the M.S. and Ph.D. degrees in computer science from the University of North Carolina at Chapel Hill, Chapel Hill, NC, USA, in 2011 and 2014, respectively.
From 2007 to 2009, he was a postdo...Show More
Yu Zheng (Senior Member, IEEE) received the B.Eng. degrees in both mechanical engineering and computer science and the Ph.D. degree in mechatronics from Shanghai Jiao Tong University, Shanghai, China, in 2001 and 2007, respectively, and the M.S. and Ph.D. degrees in computer science from the University of North Carolina at Chapel Hill, Chapel Hill, NC, USA, in 2011 and 2014, respectively.
From 2007 to 2009, he was a postdo...View more
Contents Tencent Robotics X Lab, Tencent Binhai Mansion, Shenzhen, China
Yi Ren (Member, IEEE) received the B.Sc. degree in thermal energy and power engineering from Harbin Institute of Technology, Harbin, China, in 2011, and the M.Sc. and Ph.D. degrees in mechatronics engineering from the State Key Laboratory of Robotics and System, Harbin Institute of Technology, in 2013 and 2017, respectively.
From 2018 to 2020, he was a Postdoctoral Fellow and Senior Scientist in electrical engineering with the Chair of Information-oriented Control, Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany. From 2020 to 2022, he was a Research Scientist with Tencent Robotics X Lab. He joined the Advanced Manufacturing Lab, Huawei Technologies, Shenzhen, China, in 2023, and is currently a technical expert in Robotics. His research interests include robotics, nonlinear control, distributed control, perception, and natural language processing with application to multirobot cooperation and manipulation.
Yi Ren (Member, IEEE) received the B.Sc. degree in thermal energy and power engineering from Harbin Institute of Technology, Harbin, China, in 2011, and the M.Sc. and Ph.D. degrees in mechatronics engineering from the State Key Laboratory of Robotics and System, Harbin Institute of Technology, in 2013 and 2017, respectively.
From 2018 to 2020, he was a Postdoctoral Fellow and Senior Scientist in electrical engineering with the Chair of Information-oriented Control, Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany. From 2020 to 2022, he was a Research Scientist with Tencent Robotics X Lab. He joined the Advanced Manufacturing Lab, Huawei Technologies, Shenzhen, China, in 2023, and is currently a technical expert in Robotics. His research interests include robotics, nonlinear control, distributed control, perception, and natural language processing with application to multirobot cooperation and manipulation.View more
Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany
Zhehua Zhou received the B.Eng. degree in mechatronics engineering from Tongji University, Shanghai, China in 2014, and the M.Sc. degree in electrical and computer engineering in 2017 from the Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany, where he is currently working toward the Ph.D. degree in learning-based control and robotics with the Chair of Automatic Control Engineering, Department of Electrical and Computer Engineering.
His research interests include optimal control, learning-based control, and the applications to robotics.
Zhehua Zhou received the B.Eng. degree in mechatronics engineering from Tongji University, Shanghai, China in 2014, and the M.Sc. degree in electrical and computer engineering in 2017 from the Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany, where he is currently working toward the Ph.D. degree in learning-based control and robotics with the Chair of Automatic Control Engineering, Department of Electrical and Computer Engineering.
His research interests include optimal control, learning-based control, and the applications to robotics.View more
Tencent Robotics X Lab, Tencent Binhai Mansion, Shenzhen, China
Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany
Ziwei Xu received the B.Sc. degree in electrical engineering from the Karlsruhe Institute of Technology, Karlsruhe, Germany, in 2018, and the M.Sc. degree in electrical engineering and information technology from the Technical University of Munich, Munich, Germany, in 2022.
He is currently an internship Researcher with Tencent Robotics X Lab, Shenzhen, China. His research interests include multirobot cooperation and human-robot interaction.
Ziwei Xu received the B.Sc. degree in electrical engineering from the Karlsruhe Institute of Technology, Karlsruhe, Germany, in 2018, and the M.Sc. degree in electrical engineering and information technology from the Technical University of Munich, Munich, Germany, in 2022.
He is currently an internship Researcher with Tencent Robotics X Lab, Shenzhen, China. His research interests include multirobot cooperation and human-robot interaction.View more
School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
Yang Yang (Senior Member, IEEE) received the B.Sc. degree in mechanical design manufacturing and automation, and the M.Sc. degree in mechatronics engineering from Harbin Institute of Technology, Harbin, China, in 2011 and 2013 respectively, and the Ph.D. degree in mechanical engineering from the University of Hong Kong, Hong Kong, China, in 2017.
From 2017 to 2020, he was a postdoc Fellow both with the University of Hong Kong and the Hong Kong University of Science and Technology, Hong Kong. He is currently an Associate Professor with Nanjing University of Information Science and Technology, Nanjing, China. He is also the Vice Director with Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Zhenjiang, China. His research interests include soft robots, bioinspired robots, 3-D printing, and smart materials.
Yang Yang (Senior Member, IEEE) received the B.Sc. degree in mechanical design manufacturing and automation, and the M.Sc. degree in mechatronics engineering from Harbin Institute of Technology, Harbin, China, in 2011 and 2013 respectively, and the Ph.D. degree in mechanical engineering from the University of Hong Kong, Hong Kong, China, in 2017.
From 2017 to 2020, he was a postdoc Fellow both with the University of Hong Kong and the Hong Kong University of Science and Technology, Hong Kong. He is currently an Associate Professor with Nanjing University of Information Science and Technology, Nanjing, China. He is also the Vice Director with Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Zhenjiang, China. His research interests include soft robots, bioinspired robots, 3-D printing, and smart materials.View more
Chair for Computer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Munich, Germany
Guangyao Zhai (Graduate Student Member, IEEE) received the B.Eng. degree in automation from the Northwestern Polytechnical University, Xi'an, China, in 2018, and the M.Sc. degree in control science and engineering from the Zhejiang University, Hangzhou, China, in 2021. He is currently working toward the Ph.D. degree in computer science with the Technical University of Munich, Munich, Germany.
His research interests include robot vision and robotic grasping.
Guangyao Zhai (Graduate Student Member, IEEE) received the B.Eng. degree in automation from the Northwestern Polytechnical University, Xi'an, China, in 2018, and the M.Sc. degree in control science and engineering from the Zhejiang University, Hangzhou, China, in 2021. He is currently working toward the Ph.D. degree in computer science with the Technical University of Munich, Munich, Germany.
His research interests include robot vision and robotic grasping.View more
Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany
Marion Leibold (nee Sobotka) (Member, IEEE) received the diploma degree in applied mathematics from the Technical University of Munich, Munich, Germany, in 2002, and the Ph.D. degree from the Faculty of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany, in 2007.
She is currently a Senior Researcher with the Institute of Automatic Control Engineering, Faculty of Electrical Engineering and Information Technology, Technical University of Munich. Her research interests include optimal control and nonlinear control theory, and applications to robotics.
Marion Leibold (nee Sobotka) (Member, IEEE) received the diploma degree in applied mathematics from the Technical University of Munich, Munich, Germany, in 2002, and the Ph.D. degree from the Faculty of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany, in 2007.
She is currently a Senior Researcher with the Institute of Automatic Control Engineering, Faculty of Electrical Engineering and Information Technology, Technical University of Munich. Her research interests include optimal control and nonlinear control theory, and applications to robotics.View more
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Fenglei Ni received the B.S. and M.S. degrees in electrical engineering and the Ph.D. degree in mechanical engineering from Harbin Institute of Technology (HIT), Harbin, China, in 1998, 2002, and 2007, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and Systems, HIT. His research interests include ac motor drives, space robotics, and robot control technologies.
Fenglei Ni received the B.S. and M.S. degrees in electrical engineering and the Ph.D. degree in mechanical engineering from Harbin Institute of Technology (HIT), Harbin, China, in 1998, 2002, and 2007, respectively.
He is currently a Professor with the State Key Laboratory of Robotics and Systems, HIT. His research interests include ac motor drives, space robotics, and robot control technologies.View more
Tencent Robotics X Lab, Tencent Binhai Mansion, Shenzhen, China
Zhengyou Zhang (Fellow, IEEE) received the B.Sc. degree in electronic engineering from Zhejiang University, Hangzhou, China, in 1985, the M.Sc. degree in computer science from the University of Nancy, Nancy, France, in 1987, and the Ph.D. degree in computer science and the Doctor of Science (Habilitation à diriger des recherches) diploma from the University of Paris XI, Paris, France, in 1990 and 1994, respectively.
From 1991 to 1998, he was with INRIA (French National Institute for Research in Computer Science and Control) for 11 years as a Senior Research Scientist. From 1998 to 2018, he was a Principal Researcher with Microsoft Research, Redmond, United States. He is also an Affiliate Professor with the University of Washington, Seattle, WA, USA, and an Adjunct Chair Professor with Zhejiang University, Hangzhou, China. He joined Tencent in 2018, and is currently the Director of AI Lab and Robotics X, Tencent, Shenzhen, China. He has authored or coauthored more than 500 papers in top international conferences and journals, and he holds nearly 200 issued patents.
Dr. Zhang was the recipient of the IEEE Helmholtz Test of Time Award in 2013 for his “Zhang's method.” He is an ACM Fellow (Association for Computing Machinery Fellow). He is the Founding Editor-in-Chief of IEEE Transactions on Autonomous Mental Development, an Associate Editor of the International Journal of Computer Vision, and an Associate Editor of Machine Vision and Applications. He was an Associate Editor of IEEE Transactions on Pattern Analysis and Machine Intelligence from 2000 to 2004, an Associate Editor of IEEE Transactions on Multimedia from 2004 to 2009, an Associate Editor of the International Journal of Pattern Recognition and Artificial Intelligence from 1997 to 2009, among others.
Zhengyou Zhang (Fellow, IEEE) received the B.Sc. degree in electronic engineering from Zhejiang University, Hangzhou, China, in 1985, the M.Sc. degree in computer science from the University of Nancy, Nancy, France, in 1987, and the Ph.D. degree in computer science and the Doctor of Science (Habilitation à diriger des recherches) diploma from the University of Paris XI, Paris, France, in 1990 and 1994, respectively.
From 1991 to 1998, he was with INRIA (French National Institute for Research in Computer Science and Control) for 11 years as a Senior Research Scientist. From 1998 to 2018, he was a Principal Researcher with Microsoft Research, Redmond, United States. He is also an Affiliate Professor with the University of Washington, Seattle, WA, USA, and an Adjunct Chair Professor with Zhejiang University, Hangzhou, China. He joined Tencent in 2018, and is currently the Director of AI Lab and Robotics X, Tencent, Shenzhen, China. He has authored or coauthored more than 500 papers in top international conferences and journals, and he holds nearly 200 issued patents.
Dr. Zhang was the recipient of the IEEE Helmholtz Test of Time Award in 2013 for his “Zhang's method.” He is an ACM Fellow (Association for Computing Machinery Fellow). He is the Founding Editor-in-Chief of IEEE Transactions on Autonomous Mental Development, an Associate Editor of the International Journal of Computer Vision, and an Associate Editor of Machine Vision and Applications. He was an Associate Editor of IEEE Transactions on Pattern Analysis and Machine Intelligence from 2000 to 2004, an Associate Editor of IEEE Transactions on Multimedia from 2004 to 2009, an Associate Editor of the International Journal of Pattern Recognition and Artificial Intelligence from 1997 to 2009, among others.View more
Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany
Martin Buss (Fellow, IEEE) received the diploma degree in electrical engineering from the Technische Universität Darmstadt, Darmstadt, Germany, in 1990, and the Ph.D. degree in electrical engineering from The University of Tokyo, Tokyo, Japan, in 1994.
From 1994 to 1995, he was a postdoctoral Researcher with the Department of Systems Engineering, Australian National University, Canberra, ACT, Australia. From 1995 to 2000, he was a Senior Research Assistant and a Lecturer with the Chair of Automatic Control Engineering, Department of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany. From 2000 to 2003, he was a Full Professor, the Head of the Control Systems Group, and the Deputy Director of the Institute of Energy and Automation Technology, Faculty IV, Electrical Engineering and Computer Science, Technical University of Berlin, Berlin, Germany. Since 2003, he has been a Full Professor (Chair) with the Chair of Automatic Control Engineering, Faculty of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany, where he has also been with the Medical Faculty since 2008. His research interests include automatic control, mechatronics, multimodal human system interfaces, optimization, nonlinear, and hybrid discrete-continuous systems.
Dr. Buss was the recipient of the ERC Advanced Grant SHRINE.
Martin Buss (Fellow, IEEE) received the diploma degree in electrical engineering from the Technische Universität Darmstadt, Darmstadt, Germany, in 1990, and the Ph.D. degree in electrical engineering from The University of Tokyo, Tokyo, Japan, in 1994.
From 1994 to 1995, he was a postdoctoral Researcher with the Department of Systems Engineering, Australian National University, Canberra, ACT, Australia. From 1995 to 2000, he was a Senior Research Assistant and a Lecturer with the Chair of Automatic Control Engineering, Department of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany. From 2000 to 2003, he was a Full Professor, the Head of the Control Systems Group, and the Deputy Director of the Institute of Energy and Automation Technology, Faculty IV, Electrical Engineering and Computer Science, Technical University of Berlin, Berlin, Germany. Since 2003, he has been a Full Professor (Chair) with the Chair of Automatic Control Engineering, Faculty of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany, where he has also been with the Medical Faculty since 2008. His research interests include automatic control, mechatronics, multimodal human system interfaces, optimization, nonlinear, and hybrid discrete-continuous systems.
Dr. Buss was the recipient of the ERC Advanced Grant SHRINE.View more
Tencent Robotics X Lab, Tencent Binhai Mansion, Shenzhen, China
Yu Zheng (Senior Member, IEEE) received the B.Eng. degrees in both mechanical engineering and computer science and the Ph.D. degree in mechatronics from Shanghai Jiao Tong University, Shanghai, China, in 2001 and 2007, respectively, and the M.S. and Ph.D. degrees in computer science from the University of North Carolina at Chapel Hill, Chapel Hill, NC, USA, in 2011 and 2014, respectively.
From 2007 to 2009, he was a postdoctoral Research Fellow with the Department of Mechanical Engineering, National University of Singapore. From 2010 to 2014, he was a Lab Associate, a Research Associate, and finally a Postdoctoral Researcher with Disney Research Pittsburgh. From 2014 to 2018, he was an Assistant Professor with the Department of Electrical and Computer Engineering, University of Michigan-Dearborn. He joined Tencent Robotics X, Shenzhen, China, in 2018 and is currently a Principal Research Scientist and the Team Lead of the Control Center. His research interests include multicontact/multibody robotic systems, robotic grasping and manipulation, legged robots, and various algorithms for robotics.
Dr. Zheng is an Associate Editor for IEEE Robotics and Automation Letters.
Yu Zheng (Senior Member, IEEE) received the B.Eng. degrees in both mechanical engineering and computer science and the Ph.D. degree in mechatronics from Shanghai Jiao Tong University, Shanghai, China, in 2001 and 2007, respectively, and the M.S. and Ph.D. degrees in computer science from the University of North Carolina at Chapel Hill, Chapel Hill, NC, USA, in 2011 and 2014, respectively.
From 2007 to 2009, he was a postdoctoral Research Fellow with the Department of Mechanical Engineering, National University of Singapore. From 2010 to 2014, he was a Lab Associate, a Research Associate, and finally a Postdoctoral Researcher with Disney Research Pittsburgh. From 2014 to 2018, he was an Assistant Professor with the Department of Electrical and Computer Engineering, University of Michigan-Dearborn. He joined Tencent Robotics X, Shenzhen, China, in 2018 and is currently a Principal Research Scientist and the Team Lead of the Control Center. His research interests include multicontact/multibody robotic systems, robotic grasping and manipulation, legged robots, and various algorithms for robotics.
Dr. Zheng is an Associate Editor for IEEE Robotics and Automation Letters.View more
