Xiangyu Chu

About Me

I am currently an honorary postdoctoral fellow in the BTM group, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, and also a postdoctoral fellow in Multi-scale Medical Robotics Center, both directed by Prof. Kwok Wai Samuel Au. Prior to my PhD study, I received B.E. and M.E. degrees at Harbin Institute of Technology, China. In the third year, I was visiting the group of Prof. Hartmut Geyer at Carnegie Mellon University, USA. Besides, I was visiting the Chair for Computer Aided Medical Procedures & Augmented Reality (CAMP), supervised by Prof. Nassir Navab, at Technical University of Munich, Germany, from July 2023 to Jan 2024.

My research interests include 1) Developments of robotic surgical and medical systems and related algorithms; 2) Developments of nuanced manipulation skills on (deformable) objects and their applications in surgery and service; 3) Developments of agile locomotion systems and related algorithms / their applications on biomechanics.

News

[May. 2024] I was recognized for distinguished service as an Outstanding Reviewer for the IEEE Robotics and Automation Letters
[Jan. 2024] One paper about interactive navigation using large models is accepted to ICRA 2024.
[Jan. 2024] One paper is accepted to ACC 2024.
[Jan. 2024] One paper about learning-based MPC for DOM is accepted to RA-L.
[Dec. 2023] One workshop proposal about agile movement (II) is accepted to ICRA 2024.
[Sept. 2023] One paper is accepted to Humanoids 2023.
[Sept. 2023] One paper about hybrid inertial appendage is accepted to RA-L.
[Sept. 2023] One paper about learning from intuitive teleoperation is accepted to ISER 2023.
[Jul. 2023] One paper is accepted to T-RO.
[Jun. 2023] One paper is accepted to IROS 2023.
[May. 2023] One paper about large-scale cloth manipulation is accepted to CASE 2023.
[Jan. 2023] Two papers are accepted to ICRA 2023.
[Dec. 2022] One workshop proposal about agile movement is accepted to ICRA 2023.
[Jun. 2022] One paper about nonholonomic vehicle navigation is accepted to T-MECH.
[May. 2022] One paper is accepted to T-MECH.
[Apr. 2022] One paper about null space avoidance theory is accepted to T-CST.
[Feb. 2022] One paper is accepted to ACC 2022.
[Jul. 2021] I defended my Ph.D. dissertation with the committee members: Prof. Yunhui Liu, Prof. Kwok Wai Samuel Au, Prof. Tat Ming Lau, and Prof. Marco Hutter.

Publications

RA-L

Learning-based MPC With Safety Filter for Constrained Deformable Linear Object Manipulation

Yunxi Tang, Xiangyu Chu^*, Jing Huang, and K. W. Samuel Au

IEEE Robotics and Automation Letters (RA-L), 2024.

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ICRA

Interactive Navigation in Environments with Traversable Obstacles Using Large Language and Vision-Language Models

Zhen Zhang, Anran Lin, Chun Wai Wong, Xiangyu Chu^*, Qi Dou^*, and K. W. Samuel Au

IEEE International Conference on Robotics and Automation, 2024.

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RA-L

Combining Tail and Reaction Wheel for Underactuated Spatial Reorientation in Robot Falling With Quadratic Programming

Xiangyu Chu, Shengzhi Wang, Raymond NG, Chun Yin Fan, Jiajun An, and K. W. Samuel Au

IEEE Robotics and Automation Letters (RA-L), 2023.

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ISER

Bootstrapping Robotic Skill Learning With Intuitive Teleoperation: Initial Feasibility Study

Xiangyu Chu^#, Yunxi Tang^#, Lam Him Kwok, Yuanpei Cai, and K. W. Samuel Au (^#equal contribution)

International Symposium on Experimental Robotics (ISER), 2023.

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CASE

Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study

Xiangyu Chu^#, Shengzhi Wang^#, Minjian Feng, Jiaxi Zheng, Yuxuan Zhao, Jing Huang, and K. W. Samuel Au (^#equal contribution)

2023 IEEE International Conference on Automation Science and Engineering (CASE), 2023.

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TCST

Opposite Treatment on Null Space: A Unified Control Framework for a Class of Underactuated Robotic Systems With Null Space Avoidance

Xiangyu Chu, Chun Ho Lo, Tommaso Proietti, Conor J Walsh, and Kwok Wai Samuel Au

IEEE Transactions on Control Systems Technology (TCST), 2023.

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TMECH

Feedback Control for Collision-Free Nonholonomic Vehicle Navigation on SE (2) With Null Space Circumvention

Xiangyu Chu, Raymond Ng, Hesheng Wang, and Kwok Wai Samuel Au

IEEE/ASME Transactions on Mechatronics (TMECH), 2022.

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RA-L

Null-Space-Avoidance-Based Orientation Control Framework for Underactuated, Tail-Inspired Robotic Systems in Flight Phase

Xiangyu Chu, Chun Ho David Lo, Carlos Ma, and Kwok Wai Samuel Au

IEEE Robotics and Automation Letters (RA-L), 2019.

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RA-L

A Compliant Robotic Instrument With Coupled Tendon Driven Articulated Wrist Control for Organ Retraction

Xiangyu Chu, Hoi Wut Yip, Yuanpei Cai, Tsz Yin Chung, Stuart Moran, and K. W. Samuel Au

IEEE Robotics and Automation Letters (RA-L), 2018.

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Services

Program Committee

Workshop Organization

Agile Movements: Animal Behavior, Biomechanics, and Robot Devices at ICRA 2023

Agile Movements II: Animal Behavior, Biomechanics, and Robot Devices at ICRA 2024