Projects in Academia

I’ve worked across a broad range of robotics projects—from hardware design to control algorithms—spanning cable-driven systems, rigid and soft arms, and intelligent automation. Each challenge has been a chance to build something meaningful, and for me, turning ideas into working robots is always the fun part.

Teleoperation Master Controller

Cheng, H. H., & Hughes, J. (2025). 8-DoFs Cable Driven Parallel Robots for Bimanual Teleportation. arXiv preprint arXiv:2504.01554.

Online Imitation Learning Correction

Pan, C., Cheng, H. H., & Hughes, J. (2025). Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation. arXiv preprint arXiv:2503.15368.

Soft Robotic Arm Real Time Control

Guan, Q., Cheng, H. H., Dai, B., & Hughes, J. (2025). Control the Soft Robot Arm with its Physical Twin. arXiv preprint arXiv:2503.17227.

OTHs Three-Finger Gripper

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

Reconfigurable Cable Driven Parallel Robot

Cheng, H. H., & Lau, D. (2023). Cable attachment optimization for reconfigurable cable-driven parallel robots based on various workspace conditions. IEEE Transactions on Robotics, 39(5), 3759-3775.

Workspace Analysis & Path Planning of Cable Robot

ray_base_analysis.mp4

Cheng, H. H., & Lau, D. (2022). Ray-based cable and obstacle interference-free workspace for cable-driven parallel robots. Mechanism and Machine Theory, 172, 104782.

Other Projects

CU-Brick (PoC Stage)

Lamella Plate Cleaning Robot (PoC Stage)

XL-Laser

Teaching Robot Arm

Wu, Y., Cheng, H. H., Fingrut, A., Crolla, K., Yam, Y., & Lau, D. (2018, May). CU-brick cable-driven robot for automated construction of complex brick structures: From simulation to hardware realisation. In 2018 IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR) (pp. 166-173). IEEE.

Crolla, K. R. I. S. T. O. F., Cheng, P., Chan, D., Chan, A., & Lau, D. A. R. W. I. N. (2018). Inflatable architecture production with cable-driven robots. In Learning, Adapting and Prototyping-Proceedings of the 23rd CAADRIA Conference (Vol. 1, pp. 9-18). Hong Kong: The Association for Computer–Aided Architectural Design Research in Asia CAADRIA.

Zhang, Z., Cheng, H. H., & Lau, D. (2019). Efficient wrench-closure and interference-free conditions verification for cable-driven parallel robot trajectories using a ray-based method. IEEE Robotics and Automation Letters, 5(1), 8-15.

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