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LI, Xiang

Ph.D.

Associate Professor

Department of Automation, Tsinghua University

Beijing, China

Email: xiangli@tsinghua.edu.cn

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Xiang LI received the Bachelor and Master degrees from Beijing Institute of Technology in 2006 and 2008, and the PhD degree from Nanyang Technological University in 2013 respectively. From Aug. 2012 to Feb. 2015, he was a Research Fellow at the Intelligent Robotics Lab, Nanyang Technological University, Singapore. From Feb. 2015 to Aug. 2016, he was a Research Fellow at the Department of Biomedical Engineering, National University of Singapore. From Aug. 2016 to Aug. 2019, he was a Research Assistant Professor at the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong. He is now working as an Associate Professor at the Department of Automation, Tsinghua University.

Xiang LI is the Associate Editor of IEEE Robotics & Automation Magazine and the Associate Editor of 2019 - 2021 IEEE International Conference on Robotics and Automation (ICRA). He received the Highly Commended Paper Award in 2013 IFToMM International Symposium on Robotics and Mechatronics, the Best Paper in Robotic Control in 2017 International Conference on Advanced Robotics, and the Best Application Paper Finalists in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). His current research interests include deformable object manipulation, physical human-robot interaction, robot-assisted optical tweezers, and multi-agent system.

Research Highlights

Robot Control: Proposed a global task-space robot controller to deal with limited sensing zone and singularity in robot task space control; Proposed a dynamic region control approach with guaranteed transient and steady-state performance.

Robot-Assisted Optical Manipulation: Reported the first result on dynamic trapping and manipulation of biological cells with optical tweezers, and addressed the problem of local effectiveness of existing methods; Developed robotic techniques for optical manipulation with unknown trapping stiffness, limited FOV, and Brownian motions.

Physical Human-Robot Interaction: Developed a theoretical framework to integrate multiple interaction modes into a single controller and take advantages of both human knowledge and robot's ability in a stable and smooth manner; Successfully implemented it in lower-limb exoskeleton and validated in clinical trials.

Deformable Object Manipulation: Proposed a coupled offline and online data-driven method for efficiently learning a global deformation model of deformable linear objects; Applied to vision-based robotic manipulation of flexible PCBs and USB wires in 3C manufacturing.

Projects

  • ITF Tier3 (ITS/074/17), "Vision-Based Robot Systems for Automatic Soldering of Flexible PCBs and USB Wires," HK$ 1,368,200, Nov. 1, 2017 - Apr. 30, 2019, PI (completed).

  • ITF TCFS (GHP/021/17SZ), "Enabling Technologies for Indoor Renovation Robots," HK$ 1,996,300, Jan. 1, 2018 - Dec. 31, 2019, PI (transferred).

  • 深圳科创委(JCYJ20170816164748290),基础研究(学科布局),“工业机械臂的自治柔性操作技术研究”,CNY 3,000,000, Feb. 28, 2018 - Aug. 28, 2022, PI.

  • ITF UICP (UIM/335), "Development of a Sanding Robot for Wooden and Coated Surfaces," HK$ 887,109, Mar. 1, 2018 - Feb. 28, 2019, PI (completed).

  • 国家自然科学基金(NSFC, 61803321),青年科学基金项目,“面向外骨骼机器人的动态阻抗控制方法”,CNY 260,000, Jan. 1, 2019 - Dec. 31, 2021, PI (completed).

  • RGC GRF (14200319), "Shape Control and Task Planning for Robotic Manipulation of Deformable Linear Objects," HK$ 695,919, Jan. 1, 2020 - Dec. 31, 2022, PI (withdrawn).

  • 清华大学国强研究院,通用类自由探索,“面向线状柔性体的机器人自主操作技术",CNY 1,000,000, Dec. 15, 2019 - Dec. 14, 2021, PI (completed).

  • 佛山-清华产学研合作协同创新专项,引导启发类,“基于视觉反馈的USB线缆自主焊接机器人",CNY 200,000, Jan. 1, 2020 - Dec. 31, 2020, PI (completed).

  • 国家自然科学基金(NSFC, 52075290),面上项目,“面向灵巧微操作的光镊机器人研究”,CNY 580,000, Jan. 1, 2021 - Dec. 31, 2024, PI.

  • 清华大学国强研究院,通用类自由探索,“基于意图预测的智能外骨骼机器人关键技术",CNY 1,000,000, Mar. 1, 2021 - Feb . 28, 2023, Co-I.

  • 国家自然科学基金(NSFC, U21A20517),联合基金重点项目,“基于意图引导和轨迹定制的上肢绳牵引智能康复机器人研究 ”,CNY 2,600,000, Jan. 1, 2022 - Dec. 31, 2025, PI.

  • 科技创新2030 -“脑科学与类脑研究”重大项目:类脑仿生智能无人系统,“非配合异构多智能体类脑学习与博弈理论”(2021ZD0201404),CNY 12,000,000, Dec. 1, 2022 - Nov. 30, 2026, PI.

Updated on 25 November 2022