Publications

Papers

2020

• Ke Wang, Songyan Xin, Luyao Zhang, Digby Chappell, Sethu Vijayakumar and Petar Kormushev. ''Highly Dynamic Jumping with a Knee-less Bipedal Robot SLIDER''. In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2020. 

• Jiatao Ding, Songyan Xin, Tin Lun Lam, Sethu Vijayakumar, "Versatile Locomotion by Integrating Ankle, Hip, Stepping, and HeightVariation Strategies". In 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021.

• Guiyang Xin, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, Michael Mistry. “Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion". In IEEE Robotics and Automation Letters (RA-L), 2020.

• Songyan Xin, Sethu Vijayakumar. "Online Dynamic Motion Planning and Control for Wheeled Biped Robots". In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

• Traiko Dinev, Songyan Xin, Wolfgang Xaver Merkt, Vladimir Ivan, Sethu Vijayakumar. "Modeling and Control of a Hybrid Wheeled Jumping Robot". In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

2019

• Songyan Xin, Romeo Orsolino, Nikos Tsagarakis. “Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control". In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.

2018

• Songyan Xin, Brian Delhaisse, Yangwei You, Chengxu Zhou, Mohammad Shahbazi, and Nikos Tsagarakis. “Neural-network-controlled spring mass template for humanoid running". In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

• Songyan Xin, Chengxu Zhou, and Nikos Tsagarakis. “New cross-step enabled configurations for humanoid robot”. In IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2018.

2017

• Zeyu Ren, Chengxu Zhou, Songyan Xin, and Nikos Tsagarakis. “Heri hand: A quasi dexterous and powerful hand with asymmetrical finger dimensions and under actuation”. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

• Songyan Xin, Yangwei You, Chengxu Zhou, Cheng Fang, and Nikos Tsagarakis. “A torque-controlled humanoid robot riding on a two-wheeled mobile platform”. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

• Songyan Xin, Yangwei You, Chengxu Zhou, and Nikos Tsagarakis. “Humanoid running based on centroidal dynamics and heuristic foot placement”. In IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017.

2016

• Yangwei You, Songyan Xin, Chengxu Zhou, and Nikos Tsagarakis. “Straight leg walking strategy for torque-controlled humanoid robots”. In IEEE International Conference on Robotics and Biomimetics (ROBIO), 2016.

WORKSHOPS

• Dynamic Walking 2020 , Abstract Paper “Online Dynamic Motion Planning and Control for Wheeled Biped Robots", Songyan Xin, Sethu Vijayakumar.

• UK-Japan Robotics and AI research collaboration workshop 2019, Poster “Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control", Songyan Xin, Romeo Orsolino and Nikos Tsagarakis.

• IROS 2018 Workshop on Modelling and Control of Dynamic Legged Locomotion: Insights from Template Models, Poster “Neural-Network-Controlled SLIP Model for Humanoid Running", Songyan Xin, Delhaisse Brian, Yangwei You, Chengxu Zhou, Mohammad Shahbazi, and Nikos Tsagarakis.

• IROS 2017 , Poster “Humanoid Hopping Based on Centroidal Dynamics and Heuristic Foot Placement", Songyan Xin, Yangwei You, Chengxu Zhou, and Nikos Tsagarakis.

• Dynamic Walking 2017 , Poster “Bio-inspired Control Framework for Legged Locomotion", Yapeng Shi, Changrong Cai, Wei Guo, Zhenyu Jiang, Xin Wang, and Songyan Xin.