Edinburgh Research Explorer

Dr Zhibin Li

Lecturer in Robotics and Control

  1. A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN

    Li, Z., Tsagarakis, N. & Caldwell, D. G., 2012, IEEE-RAS International Conference on Humanoid Robots. Osaka, Japan: Institute of Electrical and Electronics Engineers (IEEE), p. 44-49 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  2. 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 proceedingConference contribution

  3. 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 proceedingConference contribution

  4. 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 proceedingConference contribution

  5. 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 proceedingConference contribution

  6. 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 proceedingConference contribution

  7. 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 journalArticle

  8. 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 journalArticle

  9. 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 proceedingConference contribution

  10. 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 proceedingConference contribution

  11. 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 proceedingConference contribution

  12. 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 journalArticle

  13. 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 journalArticle

  14. 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 journalArticle

  15. 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 proceedingConference contribution

  16. 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 journalArticle

  17. 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 proceedingConference contribution

  18. 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 journalArticle

  19. 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 proceedingConference contribution

  20. 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 proceedingConference contribution

  21. Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion

    Li, Z., Tsagarakis, N. G. & Caldwell, D. G., 2010, IEEE International Conference on Robotics and Biomimetics. Tianjin, China: Institute of Electrical and Electronics Engineers (IEEE), p. 13-18 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  22. 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 proceedingConference contribution

  23. 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 proceedingConference contribution

  24. 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 journalArticle

  25. Human-like Walking with Straightened Knees, Toe-off and Heel-strike for the Humanoid Robot iCub

    Li, Z., Vanderborght, B., Tsagarakis, N. G. & Caldwell, D. G., 1 Sep 2010, Control 2010, UKACC International Conference on. Coventry, UK: IET, p. 1-6 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  26. 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 journalArticle

  27. 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 proceedingConference contribution

  28. 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 journalArticle

  29. Internal Model Control for Improving the Gait Tracking of a Compliant Humanoid Robot

    Colasanto, L., Tsagarakis, N. G., Li, Z. & Caldwell, D. G., 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Portugal: Institute of Electrical and Electronics Engineers (IEEE), 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  30. 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 proceedingConference contribution

  31. Model Predictive Control for Motion Planning of Quadrupedal Locomotion

    Shi, Y., Wang, P., Li, M., Wang, X., Jiang, Z. & Li, Z., 1 May 2019, (Accepted/In press) 2019 International Conference on Advanced Robotics and Mechatronics (ICARM). 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  32. 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 proceedingConference contribution

  33. 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 proceedingConference contribution

  34. Overview of Gait Synthesis for the Humanoid COMAN

    Zhou, C., Wang, X., Li, Z. & Tsagarakis, N., Jan 2017, In : Journal of Bionic Engineering. 14, 1, p. 15-25 11 p.

    Research output: Contribution to journalArticle

  35. 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 proceedingConference contribution

  36. 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 proceedingConference contribution

  37. 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 proceedingConference contribution

  38. 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 proceedingConference contribution

  39. 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 proceedingConference contribution

  40. Stabilization for the Compliant Humanoid Robot COMAN Exploiting Intrinsic and Controlled Compliance

    Li, Z., Vanderborght, B., Tsagarakis, N. G., Colasanto, L. & Caldwell, D. G., 2012, Robotics and Automation (ICRA), 2012 IEEE International Conference on. Minnesota, USA: Institute of Electrical and Electronics Engineers (IEEE), 7 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  41. 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 journalArticle

  42. Stabilizing humanoids on slopes using terrain inclination estimation

    Li, Z., Tsagarakis, N. G. & Caldwell, D. G., 1 Nov 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers (IEEE), p. 4124-4129 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  43. Statistical dynamical systems for skills acquisition in humanoids

    Calinon, S., Li, Z., Alizadeh, T., Tsagarakis, N. G. & Caldwell, D. G., 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). Institute of Electrical and Electronics Engineers (IEEE), 7 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  44. The Design of the Lower Body of the Compliant Humanoid Robot `cCub'

    Tsagarakis, N., Li, Z., Saglia, J. A. & Caldwell, D. G., 2011, Robotics and Automation (ICRA), 2011 IEEE International Conference on. Shanghai, China: Institute of Electrical and Electronics Engineers (IEEE), p. 2035-2040 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  45. Trajectory generation of straightened knee walking for humanoid robot iCub

    Li, Z., Tsagarikis, N. G., Caldwell, D. G. & Vanderborght, B., 2010, Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on. Institute of Electrical and Electronics Engineers (IEEE), p. 2355-2360 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  46. Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid

    Li, Z., Tsagarakis, N. & Caldwell, D. G., 2012, Robotics and Automation (ICRA), 2012 IEEE International Conference on. Minnesota, USA: Institute of Electrical and Electronics Engineers (IEEE), 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  47. 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 proceedingConference contribution