Back to list

Cheng Fang Write a Message

Post Doc
Post-doc

Research Line

Humanoids & Human Centered Mechatronics

Center

IIT Central Research Lab Genova

About

Cheng Fang received the Ph.D. degree in mechanical design and theory from the Robotics Research Institute, Beihang University (formerly Beijing University of Aeronautics and Astronautics), Beijing, China, in 2013. During his Ph.D. period, he was awarded National Scholarship for Graduate Students (the top scholarship for graduate students in China) and Outstanding Doctoral Dissertation Award of Beihang University. He is currently a Postdoctoral Researcher with the Humanoids and Human Centered Mechatronics Lab, Italian Institute of Technology (IIT). His research interests include physical human-robot-environment interactions, kinematic and dynamic musculoskeletal modelling of human body, task-motion planning and control of anthropomorphic arms.

Projects

CENTAURO (2015-2019): Robust Mobility and Dexterous Manipulation in Disaster Response by Fullbody Telepresence in a Centaur-like Robot (European Horizon 2020 Programme, ICT-23-2014, 644839)

WALK-MAN (2013-2017): Whole-body Adaptive Locomotion and Manipulation (European FP7 Project, FP7-ICT-2013-10, 611832)

SAPHARI (2011-2015): Safe and Autonomous Physical Human-Aware Robot Interaction (European FP7 Project, FP7-ICT-2011-7, 287513)

Selected Publications

Journal Articles

[J7] Chenguang Yang, Chao Zeng, Cheng Fang, Wei He, Zhijun Li “A DMPs-Based Framework for Robot Learning and Generalization of Humanlike Variable Impedance Skills”, IEEE/ASME Transactions on Mechatronics, vol.23, no. 3, pp. 1193-1203, Jun 2018.

[J6] Arash Ajoudani, Cheng Fang, Nikos G. Tsagarakis, Antonio Bicchi “Reduced-complexity representation of the human arm active endpoint stiffness for supervisory control of remote manipulation”, The International Journal of Robotics Research, vol.37, no. 1, pp. 155-167, Jan 2018.

[J5] Cheng Fang, Arash Ajoudani, Antonio Bicchi, Nikos G. Tsagarakis “Online Model Based Estimation of Complete Joint Stiffness of Human Arm”, IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 84-91, Jan 2018.

[J4] Cheng Fang, Xilun Ding, “A Novel Movement-Based Operation Method for Dual-arm Rescue Construction Machinery,” Robotica, vol. 34, no. 5, pp. 1090-1112, May 2016.

[J3] Cheng Fang, Xilun Ding, “A Global Obstacle Avoidance Map for Anthropomorphic Arms,” International Journal of Advanced Robotic Systems, vol. 11, no. 7, Jul 2014.

[J2] Xilun Ding, Cheng Fang, “A Novel Method of Motion Planning for an Anthropomorphic Arm Based on Movement Primitives,” IEEE/ASME Transactions on Mechatronics, vol. 18, no. 2, pp. 624-636, Apr 2013. (Corresponding author, writer of the paper)

[J1] Jing Zhao, Cheng Fang, “On the Joint Velocity Jump During Fault Tolerant Operations for Manipulators with Multiple Degrees of Redundancy,” Mechanism and Machine Theory, vol. 44, no. 6, pp. 1201-1210, Jun 2009.

 

Conference Papers

[C13] Luka Peternel, Cheng Fang, Nikos Tsagarakis, Arash Ajoudani “Online Human Muscle Force Estimation for Fatigue Management in Human-Robot Co-Manipulation” 2018 IEEE International Conference on Robotics and Automation (IROS 2018), Jun 2018 (Accepted).

[C12] Cheng Fang, Giuseppe F. Rigano, Navvab Kashiri, Arash Ajoudani, Jinoh Lee, Nikos G. Tsagarakis, “Online Joint Stiffness Transfer from Human Arm to Anthropomorphic Arm”, 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2018), Jun 2018 (Accepted).

[C11] Cheng Fang, Arash Ajoudani, Antonio Bicchi, Nikos G. Tsagarakis “A Real-Time Identification and Tracking Method for the Musculoskeletal Model of Human Arm”, 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2018), Jun 2018 (Accepted).

[C10] Cheng Fang, Arash Ajoudani, Antonio Bicchi, Nikos G. Tsagarakis “Online Model Based Estimation of Complete Joint Stiffness of Human Arm”, 2017 IEEE International Conference on Robotics and Automation (IROS 2017) (RA-L/IROS paper).

[C9] Songyan Xin, Yangwei You, Chengxu Zhou, Cheng Fang, Nikos Tsagarakis “A Torque-controlled Humanoid Robot Riding on a Two-wheeled Mobile Platform”, 2017 IEEE International Conference on Robotics and Automation (IROS 2017).

[C8] Xiongjun Chen, Chenguang Yang, Cheng Fang, Zhijun Li “Impedance Matching Strategy for Physical Human Robot Interaction Control”, 2017 IEEE International Conference on Automation Science and Engineering (CASE 2017).

[C7] Cheng Fang, Jinoh Lee, Arash Ajoudani, Chengxu Zhou, Tsagarakis N.G., Caldwell D.G. “RRT-based Motion Planning with Sampling in Redundancy Space for Robots with Anthropomorphic Arms”, 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017).

[C6] Chengxu Zhou, Cheng Fang, Xin Wang, Zhibin Li, Nikos Tsagarakis “A Generic Optimization-based Framework for Reactive Collision Avoidance in Bipedal Locomotion”, 2016 IEEE International Conference on Automation Science and Engineering (CASE 2016).

[C5] Cheng Fang, Alessio Rocchi, Enrico Mingo Hoffman, Nikos Tsagarakis, Darwin G. Caldwell “Efficient Self-Collision Avoidance based on Focus of Interest for Humanoid Robots”, 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015).

[C4] Arash Ajoudani, Cheng Fang, Nikos G. Tsagarakis, Antonio Bicchi “A Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control”, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015).

[C3] Cheng Fang, Xilun Ding, “A Unified Language for Anthropomorphic Arm Motion,” 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO 2013), (Best student paper finalist).

[C2] Cheng Fang, Xilun Ding, “A Set of Basic Movement Primitives for Anthropomorphic Arms,” 2013 IEEE International Conference on Mechatronics and Automation (ICMA 2013).

[C1] Xilun Ding, Cheng Fang, “A Motion Planning Method for an Anthropomorphic Arm Based on Movement Primitives of Human Arm Triangle,” 2012 IEEE International Conference on Mechatronics and Automation (ICMA 2012).

Awards

Outstanding Doctoral Dissertation Award: top 2% in Beihang University, Jul 2015.

Best student paper finalist: Cheng Fang, Xilun Ding, “A Unified Language for Anthropomorphic Arm Motion,” 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO 2013), Dec 2013.

National Scholarship for Postgraduate Students: top scholarship for postgraduate students in China, Sep 2013.

Best Student Paper Award: Cheng Fang, Xilun Ding, “A Method of Task-motion Planning and Control for Dual-arm Rescue Construction Machinery Based on Movement Library,” 2nd IFToMM Symposium on Mechanism Design for Robotics, (IFToMM 2012), Oct 2012.

INFORMATION NOTICE ON COOKIES

IIT's website uses the following types of cookies: browsing/session, analytics, functional and third party cookies. Users can choose whether or not to accept the use of cookies and access the website. By clicking on "Further Information", the full information notice on the types of cookies will be displayed and you will be able to choose whether or not to accept them whilst browsing on the website
Further Information
Accept and close

I numeri di IIT

L’Istituto Italiano di Tecnologia (IIT) è una fondazione di diritto privato - cfr. determinazione Corte dei Conti 23/2015 “IIT è una fondazione da inquadrare fra gli organismi di diritto pubblico con la scelta di un modello di organizzazione di diritto privato per rispondere all’esigenza di assicurare procedure più snelle nella selezione non solo nell’ambito nazionale dei collaboratori, scienziati e ricercatori ”.

IIT è sotto la vigilanza del Ministero dell'Istruzione, dell'Università e della Ricerca e del Ministero dell'Economia e delle Finanze ed è stato istituito con la Legge 326/2003. La Fondazione ha l'obiettivo di promuovere l'eccellenza nella ricerca di base e in quella applicata e di favorire lo sviluppo del sistema economico nazionale. La costruzione dei laboratori iniziata nel 2006 si è conclusa nel 2009.

Lo staff complessivo di IIT conta circa 1440 persone. L’area scientifica è rappresentata da circa l’85% del personale. Il 45% dei ricercatori proviene dall’estero: di questi, il 29% è costituito da stranieri provenienti da oltre 50 Paesi e il 16% da italiani rientrati. Oggi il personale scientifico è composto da circa 60 principal investigators, circa 110 ricercatori e tecnologi di staff, circa 350 post doc, circa 500 studenti di dottorato e borsisti, circa 130 tecnici. Oltre 330 posti su 1400 creati su fondi esterni. Età media 34 anni. 41% donne / 59 % uomini.

Nel 2015 IIT ha ricevuto finanziamenti pubblici per circa 96 milioni di euro (80% del budget), conseguendo fondi esterni per 22 milioni di euro (20% budget) provenienti da 18 progetti europei17 finanziamenti da istituzioni nazionali e internazionali, circa 60 progetti industriali

La produzione di IIT ad oggi vanta circa 6990 pubblicazioni, oltre 130 finanziamenti Europei e 11 ERC, più di 350 domande di brevetto attive, oltre 12 start up costituite e altrettante in fase di lancio. Dal 2009 l’attività scientifica è stata ulteriormente rafforzata con la creazione di dieci centri di ricerca nel territorio nazionale (a Torino, Milano, Trento, Parma, Roma, Pisa, Napoli, Lecce, Ferrara) e internazionale (MIT ed Harvard negli USA) che, unitamente al Laboratorio Centrale di Genova, sviluppano i programmi di ricerca del piano scientifico 2015-2017.

IIT: the numbers

Istituto Italiano di Tecnologia (IIT) is a public research institute that adopts the organizational model of a private law foundation. IIT is overseen by Ministero dell'Istruzione, dell'Università e della Ricerca and Ministero dell'Economia e delle Finanze (the Italian Ministries of Education, Economy and Finance).  The Institute was set up according to Italian law 326/2003 with the objective of promoting excellence in basic and applied research andfostering Italy’s economic development. Construction of the Laboratories started in 2006 and finished in 2009.

IIT has an overall staff of about 1,440 people. The scientific staff covers about 85% of the total. Out of 45% of researchers coming from abroad 29% are foreigners coming from more than 50 countries and 16% are returned Italians. The scientific staff currently consists of approximately 60 Principal Investigators110 researchers and technologists350 post-docs and 500 PhD students and grant holders and 130 technicians. External funding has allowed the creation of more than 330 positions . The average age is 34 and the gender balance proportion  is 41% female against 59% male.

In 2015 IIT received 96 million euros in public funding (accounting for 80% of its budget) and obtained 22 million euros in external funding (accounting for 20% of its budget). External funding comes from 18 European Projects, other 17 national and international competitive projects and approximately 60 industrial projects.

So far IIT accounts for: about 6990 publications, more than 130 European grants and 11 ERC grants, more than 350 patents or patent applications12 up start-ups and as many  which are about to be launched. The Institute’s scientific activity has been further strengthened since 2009 with the establishment of 11 research nodes throughout Italy (Torino, Milano, Trento, Parma, Roma, Pisa, Napoli, Lecce, Ferrara) and abroad (MIT and Harvard University, USA), which, along with the Genoa-based Central Lab, implement the research programs included in the 2015-2017 Strategic Plan.