Room: Roboterhalle

Office Hour: By appointment only

Yuhong Huangis currently a doctoral student at Chair of Robotics, Artificial Intelligence and Real-time Systems, Department of Informatics, Technical University of Munich. He received his M.Eng degree in Integrated Circuit Engineering at National University of Defense Technology, China, in 2020, and his B.Eng degree in Software Engineering at Sun Yat-sen University, China, in 2017.

His research interests include autonomous control of mobile robot, machine learning (especially lerning in small simple).

Topic 1: Adaptive Locomotion of Mouse Robot

Mouse robot is a bionic robot with soft control. Different from the traditional 4-leg robot, its legs are controlled by rope drivers. An interesting is that there is a spine existing in the robot, it supports the robot move more like the biology (such as faster run and smoother turns).

• Topic 1.1: CPG controller for Adaptive Locomotion of Mouse Robot
• Topic 1.2: Parameters Self-adjust of CPG Controller via Reinforcement Learning

Topic 2: Swarm Intelligence for Group Navigation

In real life, humans always working in an environment with other people (avoid interference from others or collaborate with others). This is a great challenge to robot decisions. For example, in the obstacle avoidance of dense crowd navigation, the robot is required to predict the uncertain movement path of other people and avoid them. At the same, the robot needs to do the optimal decision to quickly arrive at the target.

• Topic 2.1: Dense-Crowd Navigation via Reinforcement Learning
• Topic 2.2: Control Method Based on Neighbor Reward for Robot Swarm

If you are interested in one of the topics, please feel free to contact me.

[1] Huang, Y., Mao, X., Liu, W., Yang, S., & Wang, S. (2019). Toward a Clustering-Based Approach for Self-Adjusting Impact Factors in Robotic Control Model. IEEE Access, 7, 127987-127998.

[2] Du, L., Huang, Y., Tang, Y., & Huang, D. (2019, November). A Distributed Control Method Based on Neighbor Reward for Robot Swarm. In Proceedings of the 2019 The 2nd International Conference on Robotics, Control and Automation Engineering (pp. 17-22).

[3] Cheng, L., Huang, J., Liu, L., Jian, Z., Huang, Y., & Huang, K. (2020, May). Offline Practising and Runtime Training Framework for Autonomous Motion Control of Snake Robots. In 2020 IEEE International Conference on Robotics and Automation (ICRA) (pp. 8820-8826). IEEE.