Publications

Leixin Chang, Yuxuan Nai, Hua Chen, Liangjing Yang (2025). Beyond Robustness: Learning Unknown Dynamic Load Adaptation for Quadruped Locomotion on Rough Terrain. In ICRA 2025 (Accepted).

Project Page

K Zhang, P Yun, J Cen, J Cai, D Zhu, H Yuan, C Zhao, T Feng, MY Wang (2025). Generative Artificial Intelligence in Robotic Manipulation: A Survey. arXiv preprint arXiv:2503.03464, 2025.

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Kaiwen Jiang, Zhen Fu, Junde Guo, Wei Zhang, Hua Chen (2024). Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking With a Wheeled-Quadrupedal-Manipulator. In RA-L.

Cite Arxiv Project Page

Hongxi Wang, Haoxiang Luo, Wei Zhang, Hua Chen (2024). CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion. In RA-L.

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Z Chen, K Zhang, H Chen, MY Wang, W Zhang, H Yu (2024). TNDF-Fusion: Implicit Truncated Neural Distance Field for LiDAR Dense Mapping and Localization in Large Urban Environments. IEEE Robotics and Automation Letters, 2024.

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S Yang, Z Hong, S Li, P Wensing, W Zhang, H Chen (2024). Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2024.

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Y Sun, L Zheng, H Chen, W Zhang (2024). Multi-Resolution Planar Region Extraction for Uneven Terrains. 2024 IEEE International Conference on Robotics and Automation (ICRA), 2706-2712, 2024.

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K Jiang, Z Fu, J Guo, W Zhang, H Chen (2024). Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator. IEEE Robotics and Automation Letters, 2024.

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L Zheng, THE Tse, C Wang, Y Sun, H Chen, A Leonardis, W Zhang (2024). GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern …, 2024.

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H Wang, H Luo, W Zhang, H Chen (2024). CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion. IEEE Robotics and Automation Letters, 2024.

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H Wang, H Luo, W Zhang, H Chen (2024). Combining Teacher-Student with Representation Learning: A Concurrent Teacher-Student Reinforcement Learning Paradigm for Legged Locomotion. arXiv e-prints, arXiv: 2405.10830, 2024.

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Z Cao, Z Hong, H Chen (2024). An Augmented Lagrangian Perspective on Differential Flatness-based Control of Dual Spring-Loaded Inverted Pendulum Model. IEEE Control Systems Letters, 2024.

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T Ren, Z Cao, H Chen, W Zhang (2023). Xiaotian-hybrid: a novel wheeled-quadruped platform. 2023 9th international conference on mechatronics and robotics engineering …, 2023.

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K Zhang, C Wang, H Chen, J Pan, MY Wang, W Zhang (2023). Vision-based six-dimensional peg-in-hole for practical connector insertion. 2023 IEEE International Conference on Robotics and Automation (ICRA), 1771-1777, 2023.

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T Fan, B Shen, Y Zhang, C Zhang, L Yang, H Chen, W Zhang, J Pan (2023). SMAT: A Self-Reinforcing Framework for Simultaneous Mapping and Tracking in Unbounded Urban Environments.. CoRR, 2023.

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Z Dai, C Jiang, H Chen, H Yu, W Zhang (2023). Reactive Dexterous Ungrasping with Tactile Sensing. 2023 IEEE 19th International Conference on Automation Science and …, 2023.

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H Chen, Z Hong, S Yang, PM Wensing, W Zhang (2023). Quadruped capturability and push recovery via a switched-systems characterization of dynamic balance. IEEE Transactions on Robotics 39 (3), 2111-2130, 2023.

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C Wang, H Luo, K Zhang, H Chen, J Pan, W Zhang (2023). Pomdp-guided active force-based search for robotic insertion. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2023.

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H Sun, B Huang, Z Zhang, R Xu, S Feng, G Huang, J Yin, N Qiu (2023). Overconstrained Locomotion. arXiv preprint arXiv:2310.09824, 2023.

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L Zheng, C Wang, Y Sun, E Dasgupta, H Chen, A Leonardis, W Zhang (2023). Hs-pose: Hybrid scope feature extraction for category-level object pose estimation. Proceedings of the IEEE/CVF conference on computer vision and pattern …, 2023.

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Z Chen, K Zhang, H Chen, MY Wang, W Zhang, H Yu (2023). Dorf: A dynamic object removal framework for robust static lidar mapping in urban environments. IEEE Robotics and Automation Letters 8 (12), 7922-7929, 2023.

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J Liu, Z Ouyang, J Yang, H Chen, H Lu, W Zhang (2023). Coordinated defense allocation in reach-avoid scenarios with efficient online optimization. arXiv preprint arXiv:2304.00234, 2023.

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K Zhang, Y Yang, Z Chen, H Chen, MY Wang, W Zhang (2023). A modular end effector with active rolling fingertip for picking cloth-like objects. 2023 IEEE 19th International Conference on Automation Science and …, 2023.

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B Liu, H Chen, W Zhang (2023). A general iterative extended kalman filter framework for state estimation on matrix lie groups. 2023 62nd IEEE Conference on Decision and Control (CDC), 1177-1182, 2023.

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L Zheng, A Leonardis, THE Tse, N Horanyi, H Chen, W Zhang, HJ Chang (2022). TP-AE: temporally primed 6D object pose tracking with auto-encoders. 2022 International Conference on Robotics and Automation (ICRA), 10616-10623, 2022.

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Z Hong, H Chen, W Zhang (2022). Three-dimensional dynamic running with a point-foot biped based on differentially flat slip. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022.

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Q Liao, Z Cao, H Chen, W Zhang (2022). Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots. arXiv preprint arXiv:2210.05195, 2022.

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Z Xu, H Zhu, H Chen, W Zhang (2022). Polytopic planar region characterization of rough terrains for legged locomotion. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022.

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B Weng, H Chen, W Zhang (2022). On the Convergence of Multi-robot Constrained Navigation: A Parametric Control Lyapunov Function Approach. 2022 International Conference on Robotics and Automation (ICRA), 4972-4978, 2022.

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S Yang, W Lin, J Noh, C Luo, B Huang, W Zhang, H Chen (2022). Improved Task Space Locomotion Controller for a Quadruped Robot with Parallel Mechanisms. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022.

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T Fan, B Shen, H Chen, W Zhang, J Pan (2022). Dynamicfilter: an online dynamic objects removal framework for highly dynamic environments. 2022 International Conference on Robotics and Automation (ICRA), 7988-7994, 2022.

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S Li, H Chen, W Zhang, PM Wensing (2022). A geometric sufficient condition for contact wrench feasibility. IEEE Robotics and Automation Letters 7 (4), 12411-12418, 2022.

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S Yang, H Chen, L Zhang, Z Cao, PM Wensing, Y Liu, J Pang, W Zhang (2021). Reachability-based push recovery for humanoid robots with variable-height inverted pendulum. 2021 IEEE International Conference on Robotics and Automation (ICRA), 3054-3060, 2021.

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S Li, H Chen, W Zhang, PM Wensing (2021). Quadruped robot hopping on two legs. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021.

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S Qi, W Lin, Z Hong, H Chen, W Zhang (2021). Perceptive autonomous stair climbing for quadrupedal robots. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021.

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J Liu, H Chen, PM Wensing, W Zhang (2021). Instantaneous capture input for balancing the variable height inverted pendulum. IEEE Robotics and Automation Letters 6 (4), 7421-7428, 2021.

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S Yang, H Chen, Z Fu, W Zhang (2021). Force-feedback based whole-body stabilizer for position-controlled humanoid robots. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021.

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Z Wang, Y Wang, L Zhang, H Chen, Y Pan, W Zhang (2021). Enhanced hybrid position and admittance control based on nonholonomic wheeled mobile manipulator with redundancy. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO), 508-515, 2021.

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C Wang, H Chen, J Pan, W Zhang (2021). Encirclement guaranteed cooperative pursuit with robust model predictive control. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021.

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Z Chen, T Fan, X Zhao, J Liang, C Shen, H Chen, D Manocha, J Pan (2021). Autonomous social distancing in urban environments using a quadruped robot. IEEE Access 9, 8392-8403, 2021.

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H Chen, B Wang, Z Hong, C Shen, PM Wensing, W Zhang (2020). Underactuated motion planning and control for jumping with wheeled-bipedal robots. IEEE Robotics and Automation Letters 6 (2), 747-754, 2020.

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H Chen, L Zheng, W Zhang (2020). Optimal control inspired q-learning for switched linear systems. 2020 American Control Conference (ACC), 4003-4010, 2020.

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B Tan, B Wang, H Chen, W Zhang (2020). Micro-quadrotor aggressive maneuvers with obstacles via aerodynamic compensation. 2020 5th International Conference on Advanced Robotics and Mechatronics …, 2020.

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Z Chen, Z Wang, M Wu, H Chen, W Zhang (2020). Improved dynamic window approach for dynamic obstacle avoidance of quadruped robots. IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics …, 2020.

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H Chen, PM Wensing, W Zhang (2019). Optimal control of a differentially flat two-dimensional spring-loaded inverted pendulum model. IEEE Robotics and Automation Letters 5 (2), 307-314, 2019.

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X Zheng, H Chen, O Jiao, M Xiong, W Zhang, G Xie (2019). Model predictive tracking control design for a robotic fish with controllable barycentre. IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society …, 2019.

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LD Marinovici, H Chen (2019). Framework for analysis and quantification of wide-area control resilience for power systems. IEEE Transactions on Power Systems 35 (2), 864-872, 2019.

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H Li, H Chen, W Zhang (2018). On model-free reinforcement learning for switched linear systems: A subspace clustering approach. 2018 56th Annual Allerton Conference on Communication, Control, and …, 2018.

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J Lian, D Wu, K Kalsi, H Chen (2017). Theoretical framework for integrating distributed energy resources into distribution systems. 2017 IEEE Power & Energy Society General Meeting, 1-5, 2017.

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H Chen, W Zhang, J Lian, AJ Conejo (2017). Robust distributed volt/var control of distribution systems. 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 6321-6326, 2017.

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H Chen, W Zhang (2017). On weak topology for optimal control of switched nonlinear systems. Automatica 81, 409-415, 2017.

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H Chen, K Kalyanam, W Zhang, D Casbeer (2016). Intruder isolation on a general road network under partial information. IEEE Transactions on Control Systems Technology 25 (1), 222-234, 2016.

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J Liu, H Chen, W Zhang, B Yurkovich, G Rizzoni (2016). Energy management problems under uncertainties for grid-connected microgrids: A chance constrained programming approach. IEEE Transactions on Smart Grid 8 (6), 2585-2596, 2016.

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H Chen, K Kalyanam, W Zhang, D Casbeer (2014). Continuous-time intruder isolation using unattended ground sensors on graphs. 2014 American Control Conference, 5270-5275, 2014.

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