Yuhong Huang is currently a doctoral student at the 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 the 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 robots, and machine learning (especially learning in small simple).
Thesis Topic
Topic 1: Spine-based Adaptive Locomotion of the Rat Robot
The rat robot is a bionic quadruped robot with soft actuated spine. The soft spine is able to enhance the quadrupedal locomotion of the rat robot, including balance, velocity, and direction. In our following research, we will focus on generating spine-based pathological gait for the rat robot with CPG-rewiring.
Topic 1.3: Spine-based damage control for the rat robot with CPG-rewiring.
Topic 2: Reinforcement learning for the small-size quadruped robot
Reinforcement learning approaches, which learn from the interaction between robots and their environments, can autonomously generate adaptable quadrupedal locomotion based on real-time feedback. However, these approaches often rely on the variability of data obtained from the sensors of full-size quadruped robots and the execution of suitable behaviors through powerful actuators. In contrast, small-sized quadruped robots face volumetric constraints that limit the configuration of sensors and actuators, making it challenging for them to understand and adapt to environmental changes.
Topic 2.1: Extract effective environmental differences based on little perception information
Topic 2.2: Robot gait generation via Reinforcement Learning
Topic 2.3: Adaptive control of robots in different environments through hierarchical reinforcement learning
Topic 3: Swarm Intelligence for Group Navigation
In real life, humans always work 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 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 make the optimal decision to arrive at the target quickly.
Topic 3.1: Dense-Crowd Navigation via Reinforcement Learning
Topic 3.2: Control Method Based on Neighbor Reward for Robot Swarm
If you are interested in one of the topics, please feel free to contact me.
Yuhong Huang, Zhenshan Bing, Zitao Zhang, Genghang Zhuang, Kai Huang, Alois Knoll: Optimizing Dynamic Balance in a Rat Robot Via the Lateral Flexion of a Soft Actuated Spine. IEEE International Conference on Robotics and Automation, 2024 mehr…BibTeX
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2023
Bing, Zhenshan; Rohregger, Alex; Walter, Florian; Huang, Yuhong; Lucas, Peer; Morin, Fabrice O.; Huang, Kai; Knoll, Alois: Lateral flexion of a compliant spine improves motor performance in a bioinspired mouse robot. Science Robotics 8 (85), 2023, eadg7165 mehr…BibTeX
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Huang, Yuhong and Bing, Zhenshan and Zhang, Zitao and Huang, Kai and Morin, Fabrice O and Knoll, Alois: Smooth Stride Length Change of Rat Robot with a Compliant Actuated Spine Based on CPG Controller. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 mehr…BibTeX
Zhang, Zitao; Huang, Yuhong; Zhao, Zijian; Bing, Zhenshan; Knoll, Alois; Huang, Kai: A Hierarchical Reinforcement Learning Approach for Adaptive Quadruped Locomotion of a Rat Robot. 2023 IEEE International Conference on Robotics and Biomimetics, 2023 mehr…BibTeX
Zhuang, Genghang; Bing, Zhenshan; Yao, Xiangtong; Huang, Yuhong; Huang, Kai; Knoll, Alois: An Energy-Efficient Lane-Keeping System Using 3D LiDAR Based on Spiking Neural Network. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), 2023 mehr…BibTeX
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Zhuang, Genghang; Bing, Zhenshan; Yao, Xiangtong; Huang, Yuhong; Huang, Kai; Knoll, Alois: Toward Intelligent Sensing: Optimizing Lidar Beam Distribution for Autonomous Driving. IEEE Transactions on Intelligent Transportation Systems 24 (8), 2023, 8386-8392 mehr…BibTeX
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2022
Huang, Yuhong; Bing, Zhenshan; Walter, Florian; Rohregger, Alex; Zhang, Zitao; Huang, Kai; Morin, Fabrice O.; Knoll, Alois: Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), 2022 mehr…BibTeX
Zhuang, Genghang; Bing, Zhenshan; Huang, Yuhong; Huang, Kai; Knoll, Alois: A Biologically Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), 2022 mehr…BibTeX
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2021
Zhuang, Genghang; Bing, Zhenshan; Zhao, Jiaxi; Li, Ning; Huang, Yuhong; Huang, Kai; Knoll, Alois: A Biologically Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor. arXiv preprint arXiv:2109.12910, 2021 mehr…BibTeX
2020
Cheng, Long; Huang Jianping; Liu, Linlin; Jian, Zhiyong; Huang, Yuhong; Huang, Kai: Offline Practising and Runtime Training Framework for Autonomous Motion Control of Snake Robots. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020 mehr…BibTeX
Cheng, Long; Huang, Jianping; Liu, Linlin; Jian, Zhiyong; Huang, Yuhong; Huang, Kai: Offline Practising and Runtime Training Framework for Autonomous Motion Control of Snake Robots. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020 mehr…BibTeX
He, Yiyi; Li, Tiejun; Huang, Yuhong; Li, Shijie; others: Term Weight Algorithm Oriented Terms: Low Frequency Rather Than Little Occurrences. Procedia Computer Science 176, 2020, 838--847 mehr…BibTeX
He, Yiyi; Li, Tiejun; Huang, Yuhong; Li, Shijie; others: Term Weight Algorithm Oriented Terms: Low Frequency Rather Than Little Occurrences. Procedia Computer Science 176, 2020, 838--847 mehr…BibTeX
He, Yiyi; Li, Tiejun; Huang, Yuhong; Li, Shijie; others: Term Weight Algorithm Oriented Terms: Low Frequency Rather Than Little Occurrences. Procedia Computer Science 176, 2020, 838--847 mehr…BibTeX
2019
Du, Linlin; Huang, Yuhong; Tang, Yuhua; Huang, Da: A Distributed Control Method Based on Neighbor Reward for Robot Swarm. Proceedings of the 2019 The 2nd International Conference on Robotics, Control and Automation Engineering, 2019 mehr…BibTeX
Du, Linlin; Huang, Yuhong; Tang, Yuhua; Huang, Da: A Distributed Control Method Based on Neighbor Reward for Robot Swarm. Proceedings of the 2019 The 2nd International Conference on Robotics, Control and Automation Engineering, 2019 mehr…BibTeX
Du, Linlin; Huang, Yuhong; Tang, Yuhua; Huang, Da: A Distributed Control Method Based on Neighbor Reward for Robot Swarm. Proceedings of the 2019 The 2nd International Conference on Robotics, Control and Automation Engineering, 2019 mehr…BibTeX
Huang, Yuhong; Mao, Xinjun; Liu, Wanwei; Yang, Shuo; Wang, Shuo: Toward a Clustering-Based Approach for Self-Adjusting Impact Factors in Robotic Control Model. IEEE Access 7, 2019, 127987--127998 mehr…BibTeX
Huang, Yuhong; Mao, Xinjun; Liu, Wanwei; Yang, Shuo; Wang, Shuo: Toward a Clustering-Based Approach for Self-Adjusting Impact Factors in Robotic Control Model. IEEE Access 7, 2019, 127987--127998 mehr…BibTeX
Huang, Yuhong; Mao, Xinjun; Liu, Wanwei; Yang, Shuo; Wang, Shuo: Toward a Clustering-Based Approach for Self-Adjusting Impact Factors in Robotic Control Model. IEEE Access 7, 2019, 127987--127998 mehr…BibTeX
2017
Xiao, Shanshan; Bing, Zhenshan; Huang, Kai; Huang, Yuhong: Snake-like Robot Climbs Inside Different Pipes. 2017 IEEE International Conference on Robotics and Biomimetics, 2017 mehr…BibTeX
Xiao, Shanshan; Bing, Zhenshan; Huang, Kai; Huang, Yuhong: Snake-like robot climbs inside different pipes. 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017 mehr…BibTeX
Xiao, Shanshan; Bing, Zhenshan; Huang, Kai; Huang, Yuhong: Snake-like robot climbs inside different pipes. 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017 mehr…BibTeX
Xiao, Shanshan; Bing, Zhenshan; Huang, Kai; Huang, Yuhong: Snake-like robot climbs inside different pipes. 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017 mehr…BibTeX
