Zhibin Li

Lecturer in Robotics and Control, School of Informatics
Institute of Perception, Action and Behaviour

Phone+44 (0) 131 650 5145
EmailZhibin.Li@ed.ac.uk
Websitehttp://groups.inf.ed.ac.uk/advr/

Accepting PhD Students

PhD projects

Meta-learning of sensorimotor skills of robots. Deep reinforcement learning of dynamic locomotion of legged robots. Data-efficient learning of autonomous robotic manipulation. Multi-contact motion planning of multi-limbed robots. Immersive tele-operation with multi-sensory interface. Autonomous delivery robot for last-mile logistics. Bio-inspired robotic gripper for handling soft objects.

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40 Conference contribution
20 Article

1 - 50 out of 60 results

2021
Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots
Wolfslag, W., McGreavy, C., Xin, G., Tiseo, C., Vijayakumar, S. & Li, Z., 10 Feb 2021, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers (IEEE), p. 3694 - 3701 8 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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The Challenges in Modeling Human Performance in 3D Space with Fitts’ Law
Triantafyllidis, E. & Li, Z., 8 May 2021, Extended Abstracts of the 2021 CHI Conference on Human Factors in Computing Systems. CHI EA '21. ACM Association for Computing Machinery, p. 1-9 9 p. 56
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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Trajectory Optimization of Contact-rich Motions using Implicit Differential Dynamic Programming
Chatzinikolaidis, I. & Li, Z., 1 Apr 2021, In: IEEE Robotics and Automation Letters. 6, 2, p. 2626 - 2633 8 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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2020
Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model for Locomotion on Variable Ground
Chatzinikolaidis, I., You, Y. & Li, Z., 1 Oct 2020, In: IEEE Robotics and Automation Letters. 5, 4, p. 6357 - 6364 8 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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Decoding Motor Skills of AI and Human Policies: A Study on Humanoid and Human Balance Control
Yuan, K., McGreavy, C., Yang, C., Wolfslag, W. J. & Li, Z., 1 Jun 2020, In: IEEE Robotics and Automation Magazine. 27, 2, p. 87 - 101 15 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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Force-Guided High-Precision Grasping Control of Fragile and Deformable Objects Using sEMG-Based Force Prediction
Wen, R., Yuan, K., Wang, Q., Heng, S. & Li, Z., 30 Apr 2020, In: IEEE Robotics and Automation Letters. 5, 2, p. 2762-2769 8 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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Learning natural locomotion behaviors for humanoid robots using human bias
Yang, C., Yuan, K., Heng, S., Komura, T. & Li, Z., 30 Apr 2020, In: IEEE Robotics and Automation Letters. 5, 2, p. 2610-2617 8 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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Learning Pregrasp Manipulation of Objects from Ungraspable Poses
Sun, Z., Yuan, K., Hu, W., Yang, C. & Li, Z., 15 Sep 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers (IEEE), p. 9917-9923 7 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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Multi-expert learning of adaptive legged locomotion
Yang, C., Yuan, K., Zhu, Q., Yu, W. & Li, Z., 9 Dec 2020, In: Science Robotics. 5, 49, 14 p., eabb2174.
Research output: Contribution to journal › Article › peer-review

Open Access
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Study of Multimodal Interfaces and the Improvements on Teleoperation
Triantafyllidis, E., McGreavy, C., Gu, J. & Li, Z., 23 Apr 2020, In: IEEE Access. 8, p. 78213 - 78227 15 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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Trajectory adaptation of biomimetic equilibrium point for stable locomotion of a large-size hexapod robot
Chen, C., Zha, F., Guo, W., Li, Z., Sun, L. & Shi, J., 22 Nov 2020, In: Autonomous Robots. 20 p.
Research output: Contribution to journal › Article › peer-review
Unified Push Recovery Fundamentals: Inspiration from Human Study
McGreavy, C., Yuan, K., Gordon, D., Tan, K., Wolfslag, W. J., Vijayakumar, S. & Li, Z., 15 Sep 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers (IEEE), p. 10876-10882 7 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots
Xin, G., Tiseo, C., Wolfslag, W., Smith, J., Cebe, O., Li, Z., Vijayakumar, S. & Mistry, M., 8 Oct 2020, 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE). Institute of Electrical and Electronics Engineers (IEEE), p. 1415-1420 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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2019
An analytic solution for the force distribution based on Cartesian compliance models
Wang, P., Shi, Y., Zha, F., Jiang, Z., Wang, X. & Li, Z., 2019, In: International Journal of Advanced Robotic Systems. 16, 1, 1 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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An Improved Formulation for Model Predictive Control of Legged Robots for Gait Planning and Feedback Control
Yuan, K. & Li, Z., 7 Jan 2019, Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain: Institute of Electrical and Electronics Engineers (IEEE), p. 8535-8542 8 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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Bayesian Optimization for Whole-Body Control of High Degrees of Freedom Robots through Reduction of Dimensionality
Yuan, K., Chatzinikolaidis, I. & Li, Z., Jul 2019, In: IEEE Robotics and Automation Letters. 4, 3, 8 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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Learning Whole-body Motor Skills for Humanoids
Yang, C., Yuan, K., Merkt, W., Komura, T., Vijayakumar, S. & Li, Z., 24 Jan 2019, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). Beijing, China: Institute of Electrical and Electronics Engineers (IEEE), p. 270-276 8 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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Model Predictive Control for Motion Planning of Quadrupedal Locomotion
Shi, Y., Wang, P., Li, M., Wang, X., Jiang, Z. & Li, Z., 12 Sep 2019, 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). Toyonaka, Japan: Institute of Electrical and Electronics Engineers (IEEE), p. 87-92 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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Nonlinear Optimization using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper
Chatzinikolaidis, I., Stouraitis, T., Vijayakumar, S. & Li, Z., 24 Jan 2019, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). Beijing, China: Institute of Electrical and Electronics Engineers (IEEE), p. 1-9 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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2018
A novel 3D-printing repair of surface cracks for improving the mechanical strength
Zhang, Y., Fan, S., Li, Z. & Liu, H., 5 Feb 2018, 2017 IEEE/SICE International Symposium on System Integration (SII). Taipei, Taiwan: Institute of Electrical and Electronics Engineers (IEEE), p. 170-175 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Comparison Study of Nonlinear Optimization of Step Durations and Foot Placement for Dynamic Walking
Hu, W., Chatzinikolaidis, I., Yuan, K. & Li, Z., 13 Sep 2018, 2018 IEEE International Conference on Robotics and Automation. Brisbane, QLD, Australia: Institute of Electrical and Electronics Engineers (IEEE), p. 433-439 7 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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Emergence of Human-comparable Balancing Behaviors by Deep Reinforcement Learning
Yang, C., Komura, T. & Li, Z., 8 Jan 2018, 2017 IEEE-RAS International Conference on Humanoid Robots. Institute of Electrical and Electronics Engineers (IEEE), 8 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Environments
Yang, Y., Merkt, W., Ivan, V., Li, Z. & Vijayakumar, S., Jan 2018, In: IEEE Robotics and Automation Letters. 3, 1, p. 551-558 8 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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Recurrent Deterministic Policy Gradient Method for Bipedal Locomotion on Rough Terrain Challenge
Re Song, D., Yang, C., McGreavy, C. & Li, Z., 20 Dec 2018, Proceedings of the 15th International Conference on Control, Automation, Robotics and Vision (ICARCV 2018). Singapore, Singapore: Institute of Electrical and Electronics Engineers (IEEE), p. 311-318 8 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation
Li, Q., Chatzinikolaidis, I., Yang, Y., Vijayakumar, S. & Li, Z., 8 Jan 2018, 2017 IEEE-RAS International Conference on Humanoid Robots. 978-1-5386-4679-3: Institute of Electrical and Electronics Engineers (IEEE), p. 165-170 7 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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2017
A study of nonlinear forward models for dynamic walking
You, Y., Zhou, C., Li, Z. & Tsagarakis, N. G., 24 Jul 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA). Singapore, Singapore: Institute of Electrical and Electronics Engineers (IEEE), p. 3491-3496 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Humanoid Balancing Behavior Featured by Underactuated Foot Motion
Li, Z., Zhou, C., Zhu, Q. & Xiong, R., 1 Apr 2017, In: IEEE Transactions on Robotics. 33, 2, p. 298 - 312 15 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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iDRM: Humanoid motion planning with realtime end-pose selection in complex environments
Yang, Y., Ivan, V., Li, Z., Fallon, M. & Vijayakumar, S., 2 Jan 2017, Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on. Institute of Electrical and Electronics Engineers (IEEE), p. 271-278 8 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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Overview of Gait Synthesis for the Humanoid COMAN
Zhou, C., Wang, X., Li, Z. & Tsagarakis, N., Mar 2017, In: Journal of Bionic Engineering. 14, 1, p. 15-25 11 p.
Research output: Contribution to journal › Article › peer-review

Open Access
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2016
Compliance control for stabilizing the humanoid on the changing slope based on terrain inclination estimation
Li, Z., Zhou, C., Tsagarakis, N. & Caldwell, D., Aug 2016, In: Autonomous Robots. 40, 8, p. 955-971 17 p.
Research output: Contribution to journal › Article › peer-review
Design Optimisation and Control of Compliant Actuation Arrangements in Articulated Robots for Improved Energy Efficiency
Roozing, W., Li, Z., Caldwell, D. G. & Tsagarakis, N. G., 1 Jul 2016, In: IEEE Robotics and Automation Letters. 1, 2, p. 1110-1117 8 p.
Research output: Contribution to journal › Article › peer-review
Development and Control of a Compliant Asymmetric Antagonistic Actuator for Energy Efficient Mobility
Roozing, W., Li, Z., Medrano-Cerda, G. A., Caldwell, D. G. & Tsagarakis, N. G., Apr 2016, In: IEEE/ASME Transactions on Mechatronics. 21, 2, p. 1080-1091 12 p.
Research output: Contribution to journal › Article › peer-review
Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control
Castano, J. A., Li, Z., Zhou, C., Tsagarakis, N. & Caldwell, D., Jun 2016, In: International Journal of Humanoid Robotics. 13, 02, 44 p., 1550041.
Research output: Contribution to journal › Article › peer-review
Intensity Weighted Subtraction Microscopy Approach for Image Contrast and Resolution Enhancement
Korobchevskaya, K., Peres, C., Li, Z., Antipov, A., Sheppard, C. J. R., Diaspro, A. & Bianchini, P., 12 May 2016, In: Scientific Reports. 6, 9 p., 25816.
Research output: Contribution to journal › Article › peer-review

Open Access
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Robust Model Predictive Control for Humanoids Standing Balancing
Castano, J. A., Zhou, C., Li, Z. & Tsagarakis, N. G., 27 Oct 2016, 2016 IEEE International Conference on Advanced Robotics and Mechatronics (ARM). Macau, China: Institute of Electrical and Electronics Engineers (IEEE), p. 147-152 7 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Open Access
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Stabilization of bipedal walking based on compliance control
Zhou, C., Li, Z., Wang, X., Tsagarakis, N. & Caldwell, D., Aug 2016, In: Autonomous Robots. 40, 6, p. 1041-1057 17 p.
Research output: Contribution to journal › Article › peer-review
2015
Active control of under-actuated foot tilting for humanoid push recovery
Li, Z., Zhou, C., Zhu, Q., Xiong, R., Tsagarakis, N. & Caldwell, D., Sep 2015, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. Institute of Electrical and Electronics Engineers (IEEE), p. 977-982 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Enhancing the robustness of the EPSAC predictive control using a Singular Value Decomposition approach
Castano, J. A., Hernandez, A., Li, Z., Tsagarakis, N. G., Caldwell, D. G. & De Keyser, R., Dec 2015, In: Robotics and Autonomous Systems. 74, A, p. 283-295 13 p.
Research output: Contribution to journal › Article › peer-review
Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle
Zhou, C., Wang, X., Li, Z., Caldwell, D. & Tsagarakis, N., 1 Sep 2015, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. Institute of Electrical and Electronics Engineers (IEEE), p. 1599-1604 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Fall Prediction of legged robots based on energy state and its implication of balance augmentation: A study on the humanoid
Li, Z., Zhou, C., Castano, J., Wang, X., Negrello, F., Tsagarakis, N. G. & Caldwell, D. G., 1 May 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers (IEEE), p. 5094-5100 7 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Foot Placement Control For Bipedal Walking On Uneven Terrain: An Online Linear Regression Analysis Approach
You, Y., Li, Z., Tsagarakis, N. G. & Caldwell, D. G., Oct 2015, Assistive Robotics: Proceedings of the 18th International Conference on CLAWAR 2015. World Scientific, p. 478-485 8 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
From one-legged hopping to bipedal running and walking: A unified foot placement control based on regression analysis
You, Y., Li, Z., Caldwell, D. G. & Tsagarakis, N. G., 1 Sep 2015, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. Institute of Electrical and Electronics Engineers (IEEE), p. 4492-4497 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
2014
A passivity based compliance stabilizer for humanoid robots
Zhou, C., Li, Z., Castano, J., Dallali, H., Tsagarakis, N. G. & Caldwell, D. G., 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers (IEEE), p. 1487-1492 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Comparison study of two inverted pendulum models for balance recovery
Li, Z., Zhou, C., Dallali, H., Tsagarakis, N. G. & Caldwell, D. G., 1 Nov 2014, 2014 IEEE-RAS International Conference on Humanoid Robots. Institute of Electrical and Electronics Engineers (IEEE), p. 67-72 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Implementation of Robust EPSAC on dynamic walking of COMAN Humanoid
Castano, J. A., Hernandez Naranjo, J. A., Li, Z., Zhou, C., Tsagarakis, N. G., Caldwell, D. G. & De Keyser, R., 2014, 19th World Congress: The International Federation of Automatic Control. IFAC, p. 8384-8390 7 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Powered walking based on the passive dynamic principles: A virtual slope walking approach
Li, Z., Deng, K. & Zhao, M., 1 Nov 2014, 2014 IEEE-RAS International Conference on Humanoid Robots. Institute of Electrical and Electronics Engineers (IEEE), p. 394-400 7 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
2013
COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control
Tsagarakis, N. G., Morfey, S., Cerda, G. M., Li, Z. & Caldwell, D. G., 1 May 2013, Robotics and Automation (ICRA), 2013 IEEE International Conference on. p. 673-678 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach
Dallali, H., Mosadeghzad, M., Medrano-Cerda, G. A., Docquier, N., Kormushev, P., Tsagarakis, N., Li, Z. & Caldwell, D., 1 Feb 2013, Mechatronics (ICM), 2013 IEEE International Conference on. Institute of Electrical and Electronics Engineers (IEEE), p. 598-603 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Optimal ankle compliance regulation for humanoid balancing control
Mosadeghzad, M., Li, Z., Tsagarakis, N. G., Medrano-Cerda, G. A., Dallali, H. & Caldwell, D. G., 1 Nov 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers (IEEE), p. 4118-4123 6 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Quantitative Evaluation of Standing Stabilization Using Stiff and Compliant Actuators
Eljaik, J., Li, Z., R, M., Parmiggiani, A., Metta, G., Tsagarakis, N. & Nori, F., 2013, Proceedings of Robotics: Science and Systems IX. 7 p.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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