Research

My research focuses on Collaborative Robots, with novel techniques and algorithms developed in several areas including Motion Planning, Trajectory Optimization and Model-based Control. Now I am mainly working on developing optimization algorithm to explore the extreme capability of the robot and improve the performance of collaborative manipulation. In addition, I am very interested in human intention estimation base on learning algorithms.

Selected publications

• Stouraitis Theodoros*, Lei Yan*, João Moura, Michael Gienger, and Sethu Vijayakumar. Multi-mode Trajectory Optimization for Impact-aware Manipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 : 1-8. (*Authors with equal contribution)

• Lei Yan, Yiming Yang, Wenfu Xu, Sethu Vijayakumar. Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018: 7137–7144. (Full text)

Selected publications

• Lei Yan, Stouraitis Theodoros, and Sethu Vijayakumar. Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation[J]. IEEE Robotics and Automation Letters, (2021), pp. 1-8.

• Xiaoyu Zhang, Lei Yan*, Tin Lun Lam, and Sethu Vijayakumar. Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation. IEEE International Conference on Robotics and Automation (ICRA), 2021 : 1-8. (*Corresponding author)

• Lei Yan, Zonggao Mu, Wenfu Xu, Bingsong Yang. Coordinated Compliance Control of Dual-Arm Robot for Payload Manipulation: Master-slave and Shared Force Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, 2016: 2697-2702. (Full text)

• Tianliang Liu, Lei Yan, Liang Han, et al. Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain. International Journal of Advanced Robotic Systems, Vol. 13, No. 3 (2016), pp. 1-14. (JCR: Q3, IF: 0.987, Full text)

Selected publications

• Lei Yan, Zonggao Mu, Wenfu Xu. Analytical Inverse Kinematics of a Class of Redundant Manipulator Based on Dual Arm-Angle Parameterization. IEEE International Conference on Systems, Man, and Cybernetics (SMC), San Diego, CA, USA, 2014: 3744-3749. (Full text)

• Lei Yan, Han Yuan, Wenfu Xu, et al. Generalized Relative Jacobian Matrix of Space Robot for Dual-Arm Coordinated Capture. Journal of Guidance, Control, and Dynamics, Vol. 41, No. 5 (2018), pp. 1202-1208. (JCR: Q1, IF: 2.024, Full text)

• Lei Yan, Wenfu Xu, Zhonghua Hu, et al. Multi-objective Configuration Optimization for Coordinated Capture of Dual-arm Space Robot. Acta Astronautica, Vol. 167, No. xx, (2020), pp. 189-200. ( JCR: Q1, IF: 2.796, Full text)

• Lei Yan, Wenfu Xu, Zhonghua Hu, et al. Virtual-base Modeling and Coordinated Control of a Dual-arm Space Robot for Target Capturing and Manipulation. Multibody System Dynamics, Vol. 45, No. 4, (2019), pp. 431–455. (JCR: Q1, IF: 2.718, Full Text)

• Lei Yan, Zonggao Mu, Wenfu Xu. Base Centroid Virtual Manipulator Modeling and Applications for Multi-arm Space Robots. The 13th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014), Marina Bay Sands, Singapore, 2014: 1542-1547. (Full text)

• Wenfu Xu, Lei Yan, Zonggao Mu, et al. Dual Arm-angle Parameterisation and its Applications for Analytical Inverse Kinematics of Redundant Manipulators. Robotica, Vol. 34, No. 12 (2016), pp. 2669-2688. (JCR: Q3, IF: 1.554, Full text)