About Me

I am a robotics researcher specializing in mechanical design, cable-driven robot, teleoperation system, and intelligent automation.

My research journey began with the development of cable-driven parallel robots during my doctoral work, focusing on application-oriented design, scalable workspace analysis, and kinematic configuration optimization. Building on this foundation, my work evolved to explore teleoperation frameworks, emphasizing human-centered control systems that bridge intuitive commands with robotic actuation in complex environments.

My recent research centers on advancing teleoperation, intelligent automation, and robotic manipulation. I focus on creating systems that integrate mechanical design with real-time perception and adaptive control, enabling intuitive and robust operation in semi-structured environments. One example is the development of CAFEs (Collaborative Agricultural Floating End-effectors), a cable-traversing robotic system designed for agricultural applications, featuring scalable mechanical design and large-workspace teleoperation control. In parallel, I have investigated the dynamic control and responsive behaviors of soft robotic arms under teleoperation, as part of a broader effort to develop agile and adaptable robotic systems for real-world use.

More broadly, my research integrates mechanical design with adaptive perception and control strategies to support semi-autonomous robotic platforms in agricultural and industrial contexts. My overarching goal is to create robotic systems that are mechanically robust, scalable, and capable of delivering real-world impact. I am guided by the belief that a robotic system must either solve a practical challenge or contribute meaningful advances to the field.

Designing the future of robotics means more than building machines,

it requires systems that think, adapt, and perform with purpose.

Publications

8-DoFs Cable Driven Parallel Robots for Bimanual Teleportation
HH Cheng, J Hughes
arXiv preprint arXiv:2504.01554, 2025

Control the Soft Robot Arm with its Physical Twin
Q Guan, HH Cheng, B Dai, J Hughes
arXiv preprint arXiv:2503.17227, 2025

Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation
C Pan, HH Cheng, J Hughes
arXiv preprint arXiv:2503.15368, 2025

Dexterous Three-Finger Gripper based on Offset Trimmed Helicoids (OTHs)
Q Guan, HH Cheng, J Hughes
arXiv preprint arXiv:2503.00574, 2025

CAFEs: Cable-driven Collaborative Floating End-Effectors for Agriculture Applications
HH Cheng, J Hughes
arXiv preprint arXiv:2503.00514, 2025

Cable Attachment Optimization for Reconfigurable Cable-Driven Parallel Robots Based on Various Workspace Conditions
HH Cheng, D Lau
IEEE Transactions on Robotics, 39(5), 3759–3775, 2023

Ray-based Cable and Obstacle Interference-Free Workspace for Cable-Driven Parallel Robots
HH Cheng, D Lau
Mechanism and Machine Theory, 172, 104782, 2022

Efficient Wrench-Closure and Interference-Free Conditions Verification for Cable-Driven Parallel Robot Trajectories Using a Ray-Based Method
Z Zhang, HH Cheng, D Lau
IEEE Robotics and Automation Letters, 5(1), 8–15, 2019

CU-brick: Cable-Driven Robot for Automated Construction of Complex Brick Structures — From Simulation to Hardware Realisation
Y Wu, HH Cheng, A Fingrut, K Crolla, Y Yam, D Lau
2018 IEEE International Conference on Simulation, Modeling, and Programming…, 2018

Inflatable Architecture Production with Cable-Driven Robots
K Crolla, P Cheng, D Chan, A Chan, D Lau
Learning, Adapting and Prototyping — Proceedings of the 23rd CAADRIA…, 2018

Get in touch at hung.cheng@epfl.ch

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