Zhengzhe Xu

Zhengzhe Xu 许正哲

Email: xuzhengzhe810 [at] gmail.com

I am a senior student majoring in Automation (Robotics Track) at Harbin Institute of Technology (Shenzhen), and I am expected to receive my B.Eng. in Jul. 2024.

I am currently working on visual SLAM at Networked Robotics and Systems Lab (nROS-Lab), advised by Prof. Haoyao Chen. Previously, I worked as an undergraduate research assistant from Aug. 2021 to Jun. 2023 at AI&ROBOT Lab, Tsinghua University, advised by Prof. Xueqian Wang .

My research is primarily focused on autonomous navigation for mobile robots. Also, I am exploring the possibilities of learning-based approaches to perception and decision-making in the complex real world. My goal is to create intelligent and efficient robotic systems to address real-world challenges in cluttered environments.

CV / Google Scholar / GitHub / Bilibili

Research

My current research topics include motion planning of service robots and field robots, focusing on enhancing the autonomy of mobile robots in complex environments.

Hybrid Trajectory Optimization for Autonomous Terrain Traversal of Articulated Tracked Robots

Zhengzhe Xu*, Yanbo Chen*, Zhuozhu Jian, Junbo Tan, Xueqian Wang, Bin Liang

IEEE Robotics and Automation Letters (RA-L)

IEEE Xplore / arXiv / Video

Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach

Yanbo Chen*, Zhengzhe Xu*, Zhuozhu Jian*, Gengpan Tang, Liyunong Yang, Anxing Xiao, Xueqian Wang, Bin Liang

IEEE International Conference on Robotics and Automation (ICRA), 2023

IEEE Xplore / arXiv / Video

Projects

	Reconfigurable Bionic Hexapod Robot The 10th National College Student Mechanical Innovation Design Competition Keywords: Reconfigurable Robot, Hexapod Bionic Robot, Gait Control, Mechanical Design Designed a reconfigurable hexapod robot with C-legs, taking inspiration from the behavior of pill bugs that can curl up into balls. The robot consists of three partial spherical shells, which are connected by hinges to achieve “linear-spherical" reconfiguration, facilitating rolling and crawling motion modes. Used brushless DC motors connected via CAN bus to control the robot’s motion for diverse gait control
	Vision-based Firefighting Robot The 4th China University Intelligent Robot Creative Competition Keywords: Image Recognition, Service Robot, Mechanical Design Designed and built a two-wheeled differential robot platform based on ROS. The YOLOv5 image recognition module was deployed on the Jetson Nano for flame detection by camera and fire extinguisher injection by an actuator mechanism. Proposed a scheme for global and local camera flame detection to provide more reliable safety for the home.
	Robotic Xylophonist Course Project of HIT AUTO3005: Robotics Keywords: Robotic Arm, Inverse Kinematics, Trajectory Planning Utilized a six-axis robotic arm to play melodious tunes on the xylophone. Cartesian space paths are generated from musical scores, Hermite interpolation is used for trajectory planning, and then trajectories of six joints are obtained by inverse kinematics. A demonstration video is available at YouTube, and the code is open-sourced on GitHub.
	Reinforcement Learning for Chase-Escape Game Course Project of HIT AUTO3019: Machine Learning Keywords: Reinforcement Learning, Proximal Policy Optimization, Actor-Critic Network, Model Predictive Control Designed an Actor-Critic network to train an agent to escape from a hunter and avoid obstacles. Proximal Policy Optimization (PPO) was employed for training the network, and a baseline algorithm using model predictive control (MPC) was also implemented. The source code is available on GitHub.

Major Courses

Robotics:	HIT AUTO2004: Design and Practice of Robotic System (Prof. Haoyao Chen) HIT AUTO3005: Robotics (Prof. Yunjiang Lou) HIT AUTO3012: Autonomous Mobile Robot (Prof. Peng Li)
AI & ML:	HIT AUTO3018: Introduction to Artificial Intelligence (Prof. Xiaogang Xiong) HIT AUTO3019: Machine Learning (Prof. Hao Xiong)
Control:	HIT AUTO3001: Automatic Control Theory (Prof. Aiguo Wu, Prof. Jun Xu) HIT AUTO3002: Automatic Control Practice (Prof. Guangzhong Dong)
Theoretical:	HIT MATH1001: Advanced Mathematics (Prof. Hong Bai) HIT MATH1002: Linear Algebra and Analytic Geometry (Prof. Xinming Zhang) HIT AUTO2006: Algebraic Foundation for Control Theory (Prof. Jie Mei, Prof. Yanjie Li) HIT EMEC1002: Theoretical Mechanics (Prof. Youhua Fan)

Honors and Awards

National Scholarship	Ministry of Education of the People's Republic of China 2021, 2023
TOPBAND Intelligent Technology Excellence Scholarship	Shenzhen Topband Co., Ltd 2022
First-Class Academic Scholarship	Harbin Institute of Technology, Shenzhen 2021, 2022, 2023
Outstanding Student	Harbin Institute of Technology, Shenzhen 2021, 2023
First Prize in the 4th China University Intelligent Robot Creative Competition	Organizing Committee of Intelligent Robot Creative Competition 2021
First Prize in the 2021 China Undergraduate Mathematical Contest in Modeling, Guangdong	China Society for Industrial and Applied Mathematics 2021
First Prize in the 2022 China Undergraduate Mathematical Contest in Modeling, Guangdong	China Society for Industrial and Applied Mathematics 2022
First Prize in the 13th Chinese Mathematics Competition, Heilongjiang	Chinese Mathematical Society 2021

Modified version of template from here Last updated: 29 Nov. 2023

Robotics:

AI & ML:

Control:

Theoretical:

National Scholarship

TOPBAND Intelligent Technology Excellence Scholarship

First-Class Academic Scholarship

Outstanding Student

First Prize in the 4th China University Intelligent Robot Creative Competition

First Prize in the 2021 China Undergraduate Mathematical Contest in Modeling, Guangdong

First Prize in the 2022 China Undergraduate Mathematical Contest in Modeling, Guangdong

First Prize in the 13th Chinese Mathematics Competition, Heilongjiang