People
Chu Xiangyu 楚翔宇
Research Assistant Professor
xychu@mae.cuhk.edu.hk
TEL: 852 - 3943 5543
Room 315A, William M.W. Mong Engineering Building
Personal webpage

Xiangyu Chu is a Research Assistant Professor in the Mechanical and Automation Engineering Department at The Chinese University of Hong Kong (CUHK). Dr. Chu received the B.Eng. degree in automation, the M.Eng. degree in control science and engineering from the Harbin Institute of Technology, Harbin, China, in 2015 and 2017, respectively, and the Ph.D. degree in mechanical and automation engineering from CUHK in 2021. He was a Visiting Student with Carnegie Mellon University, Pittsburgh, PA, USA, in 2020. Besides, he was visiting the Chair for Computer Aided Medical Procedures & Augmented Reality (CAMP) at Technical University of Munich, Germany, from July 2023 to Jan 2024. Before joining CUHK in 2024, he was a Postdoctoral Fellow with the Multi-Scale Medical Robotics Center, InnoHK. His current research focuses on 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 in biomechanics.

Research Interests
  • Robotic Systems
  • Mechanisms and Control
  • Robot Learning
  • Robot Applications
Publications

Journal Papers 

  1. X. Chu#, M. J. Schwaner#, J. An, S. Wang, C. P. McGowan, and K. W. S. Au, “From behavior to bio-inspiration: Aerial reorientation and multi-plane stability in kangaroo rats, computational models, and robots,” Integrative and Comparative Biology, Vol. 64, No. 3, pp. 661–673, 2024.
  2. Z. Jiang, X. Li, X. Chu*, A. Karlas, Y. Bi, Y. Cheng*, K. W. S. Au, and N. Navab, “Needle Segmentation Using GAN: Restoring Thin Instrument Visibility in Robotic Ultrasound,” IEEE Transactions on Instrumentation and Measurement, early access, 2024.
  3. Y. Tang, X. Chu*, J. Huang, and K. W. S. Au, “Learning-based MPC With Safety Filter for Constrained Deformable Linear Object Manipulation,” IEEE Robotics and Automation Letters, Vol. 9, No. 3, pp. 2877-2884, 2024.
  4. X. Chu, S. Wang, R. Ng, C. Y. Fan, J. An, and K. W. S. Au, “Combining Tail and Reaction Wheel for Underactuated Spatial Reorientation in Robot Falling With Quadratic Programming,” IEEE Robotics and Automation Letters, Vol. 8, No. 11, pp. 7783-7790, 2023.
  5. X. Chu, C. H. Lo, T. Proietti, C. J. Walsh, and K. W. Samuel Au, “Opposite Treatment on Null Space: A Unified Control Framework for a Class of Underactuated Robotic Systems with Null Space Avoidance,” IEEE Transactions on Control System and Technology, Vol. 31, No. 1, pp. 193-207, 2023.
  6. X. Chu, R. Ng, H. Wang, and K. W. S. Au. “Feedback Control for Collision-Free Nonholonomic Vehicle Navigation on SE(2) with Null Space Circumvention,” IEEE Transactions on Mechatronics, Vol. 27, No. 6, pp. 5594-5604, 2022.
  7. X. Chu, C. H. David Lo, C. Ma, and K. W. S. Au, “Null-space-avoidance-based orientation control framework for underactuated, tail-inspired robotic systems in flight phase,” IEEE Robotics and Automation Letters, Vol. 4, No. 4, pp. 3916–3923, 2019.
  8. X. Chu, H. W. Yip, Y. Cai, T. Y. Chung, S. Moran, and K.W. S. Au. “A Compliant Robotic Instrument with Coupled Tendon Driven Articulated Wrist Control for Organ Retraction,” IEEE Robotics and Automation Letters (RA-L), Vol. 3, No. 4, pp. 4225-4232, Oct 2018.

Conference Papers

  1. Y. Ivan Fan, X. Chu, F. Y. Fiat Wong, F. Shi, and K. W. Samuel Au, “SIGMA: A Minimalistic 3D Hopping Robot with Parallel 3-RSR Mechanism for Safeguarding Humanitarian Demining,” IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), accepted, 2024.
  2. H. Lin, B. Li, B. Li, C. W. Wong, J. Rojas, X. Chu, and K. W. S. Au, ” World Models for General Surgical Grasping,” Robotics: Science and Systems (RSS), 2024.
  3. Z. Zhang, A. Lin, C. W. Wong, X. Chu, Q. Dou, and K. W. Samuel Au, “Interactive Navigation in Environments with Traversable Obstacles Using Large Language and Vision-Language Models,” IEEE International Conference on Robotics and Automation (ICRA), pp. 7867-7873, 2024.
  4. C. H. David Lo, C. Y. Giselle Wong, W. S. Ng, S. Wang, X. Chu, and K. W. Samuel Au, “Legged Robot Running on Rough Terrains Based on Norm Regulation of Spring-Loaded Inverted Pendulum Model,” IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), pp. 1-8, 2023.
  5. H. Lin, B. Li, X. Chu, Q. Dou, Y. Liu and K. W. Samuel Au, “End-to-End Learning of Deep Visuomotor Policy for Needle Picking,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8487-8494, 2023.
  6. X. Chu#, Y. Tang#, L.H. Kwok, Y. Cai, and K.W.S. Au, “Bootstrapping Robotic Skill Learning with Intuitive Teleoperation: Initial Feasibility Study, ” In: Ang Jr, M.H., Khatib, O. (eds) Experimental Robotics. ISER 2023.
  7. Y. Tang#, J. An#, X. Chu, S. Wang, C. Y. Wong and K. W. Samuel Au, “Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail,” IEEE International Conference on Robotics and Automation (ICRA), pp. 1141-1147. 2023.
  8. X. Chu#, S. Wang#, M. Feng, J. Zheng, Y. Zhao, J. Huang, and K. W. Samuel Au, “Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study,” IEEE 19th International Conference on Automation Science and Engineering (CASE), pp. 1-6, 2023.
  9. X. Chu, Y. Tang, A. M. Giordano, T. Chen, and K. W. S. Au, “Operational Space Control for Planar PAN–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming,” IEEE International Conference on Robotics and Automation (ICRA), pp. 12853-12859, 2021.
  10. X. Chu, C. H. D. Lo, and K. W. S. Au, “A Novel Strategy for Stabilization Control of a Planar Three-Link Underactuated Manipulator with a Passive First Joint,” American Control Conference (ACC), pp. 5262-5268, 2020.