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Zhibin Li

Post Doc

Former colleague

Research Line

Advanced Robotics

Contacts

Via Morego 30
+39 010 71781 865

About

Dr. Zhibin LI received his B.Eng. degrees from HIT (Harbin Institute of Technology, China) in the Department of Control Science and Engineering, School of Astronautics, where he trained himself as a young robotic beginner in the 4th and 5th Asia-Pacific Robot Contests. During his final year in HIT, he worked at the Technical Innovation Centre of Control Science & Engineering, the lab in which he redesigned and rebuilt a new motion control system for RM-501 Manipulator. 

After graduation, he joined NTU (Nanyang Technological University, Singapore) as a research student in the Division of Control and Instrumentation, School of Electrical & Electronic Engineering. In NTU, he developed, programmed and controlled a motion control system for robotic legs consisting of 6 BLDC motors. He also worked on data extraction of motion capture experiments, gait pattern generations of robotic legs, electromyography (EMG) signal conditioning and filtering.  

He joined the Department of Advanced Robotics of IIT (Italian Institute of Technology, Italy) since 2009 and obtained his PhD degree on April 2012. During his PhD, he developed the stabilization and walking algorithms for the Compliant huManoid CoMan. He is now a post doctoral researcher and his research interest focuses on the balancing and walking of humanoid robots. His ongoing work is to improve the algorithms towards more natural and human-like balancing and walking for the Compliant huManoid CoMan.

For more recent update, please visit his homepage https://sites.google.com/site/alexrobotics 

Projects

The past research was supported by the European projects RobotCub (PF6-IST-004370) and Viactors (FP7-ICT-231554). The current research is supported by the FP7 European project AMARSi (ICT - 248311) and WALK-MAN (Whole-body Adaptive Locomotion and Manipulation) (ICT-2013-10).

Currently, Dr. Li is working on the stabilization/balancing and walking pattern generation of the COMAN humanoid (COmpliant HuMANoid robot).

Selected Publications

Please find my google scholar profile by this link.

Journals and Book Chapters:

  1. Wesley Roozing, Zhibin Li, Darwin Caldwell, Nikos Tsagarakis, “Design Optimisation and Control of Compliant Asymmetric Actuators in Articulated Structures”, IEEE Robotics and Automation Letters (RA-L 15-0236), to appear.
  2. Zhibin Li, Chengxu Zhou, Nikos Tsagarakis, and Darwin Caldwell, “Compliance Control for Stabilizing a Humanoid on the Changing Slope Based on Terrain Inclination Estimation,” Autonomous Robots, 2015 (DOI: 10.1007/s10514-015-9504-6).
  3. Wesley Roozing, Zhibin Li, Gustavo Medrano-Cerda, Darwin Caldwell, Nikos Tsagarakis, “Development and Control of a Compliant Asymmetric Antagonistic Joint for Efficient Mobility”, IEEE/ASME Transactions on Mechatronics, 2015.
  4. Chengxu Zhou, Zhibin Li, Nikos Tsagarakis, Darwin Caldwell,  “Stabilization of Bipedal Walking Based on Compliance Control,” Autonomous Robots, 2015 (DOI: 10.1007/s10514-015-9507-3).
  5. Juan Castano, Zhibin Li, Chengxu Zhou, Nikos Tsagarakis, Darwin Caldwell,  “Reactive Gait Generation for Humanoid Robots Based on Analytic Foot Placement Control,” International Journal of Humanoid Robotics (DOI: 10.1142/S0219843615500413).
  6. Juan Castano, Andres Hernandez, Zhibin Li, Nikos Tsagarakis, Darwin Caldwell, Robin De Keyse, “Enhancing the Robustness of the EPSAC Predictive Control Using A Singular Value Decomposition Approach”, Robotics and Autonomous Systems (DOI:10.1016/j.robot.2015.09.001).
  7. Zhibin Li, Nikos Tsagarakis, and Darwin Caldwell, “Walking pattern generation for a humanoid robot with compliant joints,” Autonomous Robots, 2013. [PDF]
  8. Zhibin Li, Bram Vanderborght, Nikos Tsagarakis, and Darwin Caldwell, "Quasi-Straightened Knee Walking for the Humanoid Robot,” Modeling, Simulation and Optimization of Bipedal Walking, Cognitive Systems Monographs, Vol 18, pp. 117-130, 2013. [PDF] (bibtex)
  9. Houman Dallali, Petar Kormushev, Zhibin Li, Darwin Caldwell, “On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning,” Journal of Cybernetics and Information Technologies, Vol. 12, No. 3, pp 39--52, 2012. [PDF]

Conference Publications:

  1. Zhibin Li, Chengxu Zhou, Qiuguo Zhu, Rong Xiong, Nikos Tsagarakis, Darwin Caldwell, “Active Control of Under-actuated Foot Tilting for Humanoid Push Recovery,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
  2. Yangwei You, Zhibin Li, Nikos Tsagarakis, Darwin Caldwell, “From One-legged Hopping to Bipedal Running and Walking: A Unified Foot Placement Control Based On Regression Analysis,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. [PDF]
  3. Chengxu Zhou, Xin Wang, Zhibin Li, Nikos Tsagarakis, Darwin Caldwell, “Exploiting the Redundancy for Humanoid Robots to Dynamically Step Over A Large Obstacle,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. [PDF]. 
  4. Zhibin Li, Chengxu Zhou, Juan Castano, Xin Wang, Francesca Negrello, Nikos Tsagarakis, Darwin Caldwell, “Fall Prediction of Legged Robots Based on Energy State and its Implication of Balance Augmentation: A Study on the Humanoid,” in IEEE International Conference on Robotics and Automation (ICRA), 2015. [PDF]
  5. Yangwei You, Zhibin Li, Nikos Tsagarakis and Darwin Caldwell, “Foot Placement Control for Bipedal Walking on Uneven Terrain: An Online Linear Regression Analysis Approach,” in International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 2015. [PDF]
  6. Zhibin Li, Chengxu Zhou, Houman Dallali, Nikos Tsagarakis, and Darwin Caldwell, “Comparison Study of Two Inverted Pendulum Models for Balance Recovery,” in IEEE-RAS International Conference on Humanoid Robots, Spain, 2014. [PDF] [Quick Digest] (Video)
  7. Zhibin Li, Ka Deng, and Mingguo Zhao, “Powered Dynamic Walking Based on the Passive Dynamic Principles: A Virtual Slope Walking Approach,” in IEEE-RAS International Conference on Humanoid Robots, Spain, 2014. [PDF] (Video)
  8. Chengxu Zhou, Zhibin Li, Juan Castano, Houman Dallali, Nikos Tsagarakis, Darwin Caldwell, "A Passivity Based Compliance Stabilizer for Humanoid Robots," IEEE International Conference on Robotics and Automation (ICRA), 2014. [PDF]
  9. Juan A Castano, Andres Hernandez, Zhibin Li, Chengxu Zhou, Nikos G Tsagarakis, Darwin G Caldwell, Robin De Keyser, "Implementation of Robust EPSAC on dynamic walking of COMAN Humanoid," 19th World Congress: The International Federation of Automatic Control (IFAC), 2014. [PDF]
  10. Zhibin Li, Nikos Tsagarakis, and Darwin Caldwell, “Stabilizing Humanoids on Slopes Using Terrain Inclination Estimation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November, 2013, Tokyo, Japan. [PDF] (Video1Video2)
  11. M Mosadeghzad, Zhibin Li, N Tsagarakis, G Medrano-Cerda, H Dallali, Darwin Caldwell,  “Optimal Ankle Compliance Regulation for Humanoid Balancing Control,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November, 2013, Tokyo, Japan. [PDF]
  12. Nikos Tsagarakis, Stephen Morfey, Gustavo Medrano-Cerda, Zhibin Li, Darwin Caldwell, “Compliant Humanoid COMAN: Optimal Joint Stiffness Tuning for Modal Frequency Control,” in IEEE International Conference on Robotics and Automation (ICRA), 2013. [PDF]
  13. Houman Dallali, Mohamad Mosadeghzad, Gustavo A Medrano-Cerda, Nicolas Docquier, Petar Kormushev, Nikos Tsagarakis, Zhibin Li, Darwin Caldwell, “Development of A Dynamic Simulator for A Compliant Humanoid Robot Based on A Symbolic Multi-body Approach,” in IEEE International Conference on Mechatronics (ICM), 2013.
  14. J Eljaik, Zhibin Li, M Randazzo, A Parmiggiani, G Metta, N Tsagarakis, F Nori, “Quantitative Evaluation of Standing Stabilization Using Stiff and Compliant Actuators,” Robotics: Science and Systems (RSS), 2013.[PDF]
  15. Luca Colasanto, Nikos Tsagarakis, Zhibin Li, and Darwin Caldwell, “Internal Model Control for Improving the Gait Tracking of a Compliant Humanoid Robot,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2012, Portugal. [PDF] (bibtex)  
  16. Zhibin Li, Nikos Tsagarakis, and Darwin Caldwell, “A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN,” IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov. 19th – Dec. 1st, 2012, Osaka, Japan (Award for Best Paper Nomination Finalist). [PDF] (bibtex) (Video)
  17. Sylvain Calinon, Zhibin Li, Tohid Alizadeh, Nikos Tsagarakis, and Darwin Caldwell, “Statistical dynamical systems for skills acquisition in humanoids,” IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov. 19th – Dec. 1st, 2012, Osaka, Japan. [PDF] (bibtex)
  18. Nikos G. Tsagarakis, Zhibin Li, Jody A. Saglia, Darwin G. Caldwell, “The Design of the Lower Body of the Compliant Humanoid Robot cCub”, IEEE International Conference on Robotics and Automation (ICRA), May, 2011, China. [PDF] (bibtex)
  19. Zhibin Li, Nikos Tsagarakis, Darwin Caldwell, “Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid,” IEEE International Conference on Robotics and Automation (ICRA), May,2012, USA. [PDF] (bibtex) (Video)
  20. Zhibin Li, Bram Vanderborght, Nikos Tsagarakis, Luca Colasanto, and Darwin Caldwell, “Stabilization for the Compliant Humanoid Robot COMAN Exploiting Intrinsic and Controlled Compliance,” IEEE International Conference on Robotics and Automation (ICRA), May, 2012, USA. [PDF] (bibtex) (Video)
  21. Zhibin Li, Bram Vanderborght, Nikos Tsagarakis, and Darwin Caldwell, “Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion,” IEEE International Conference on Robotics and Biomimetics (Robio), December, 2010, China. [PDF] (bibtex) (Video)
  22. Zhibin Li, Bram Vanderborght, Nikos Tsagarakis, and Darwin Caldwell, “Trajectory generation of straightenedknee walking for humanoid robot iCub,” 11th International Conference on Control Automation Robotics Vision (ICARCV), 2010, Singapore. [PDF] (bibtex) (Video)
  23. Zhibin Li, Bram Vanderborght, Nikos Tsagarakis, and Darwin Caldwell, “Human-like Walking with Straightened Knees, Toe-off and Heel-strike for the Humanoid Robot iCub,” UKACC International Conference on CONTROL, September, 2010, UK. [PDF] (bibtex) (Video)

Awards

Award for Best Paper Nomination Finalist in IEEE-RAS International Conference on Humanoid Robots with the paper entitled “A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN”, 2012.

 

Academic Activities

 

Participation in DARPA Robotics Challenge

I was a member of the WalkMan-DRC team for developing the walking and balancing algorithms. Our team participated in the DRC Finals on June 5-6 2015, USA.

 

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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.