Yingbai Hu

Research

My interests include convex optimization, robot control, robot learning, motion planning and application in medical robot.
Robot learning: reinforcement learning, evolution strategies, imitation learning from demonstrations.
Robot control: convex optimization control, evolutionary computation for multi-objective optimization, impedance control, sliding mode control, model predictive control, adaptive control, etc.

Selected Journal Papers:

1. PI-ELM: Reinforcement learning-based adaptable policy improvement for dynamical system
   Yingbai Hu, Xu Wang, Yueyue Liu, Weiping Ding
   Information Sciences 2023 | paper

2. A Knee-Guided Evolutionary Computation Design for Motor Performance Limitations of A class of Robot with Strong non-linear Dynamic Coupling
   Yingbai Hu, Zhijun Li, Gary G. Yen
   IEEE Transactions on Systems, Man and Cybernetics: Systems 2023 | paper

3. Model Predictive Optimization for Imitation Learning from Demonstrations
   Yingbai Hu, Mingyang Cui, Jianghua Duan, Wenjun Liu, Dianye Huang, Alois Knoll, Guang Chen
   Robotics and Autonomous Systems 2023 | paper

4. On a Hierarchical Adaptive and Robust Inverse Dynamic Control Strategy With Experiment for Robot Manipulators Under Uncertainties
   Yueyue Liu, Tong Li, Jianghua Duan, Xiaoyu Wu, Haoyu Wang, Qigao Fan, Jianjie Lin, Yingbai Hu*
   Control Engineering Practice 2023 | paper

5. Safe and Human-Like Trajectory Planning of Self-Driving Cars: A Constraint Imitative Method
   Mingyang Cui, Yingbai Hu, Shaobing Xu, Jianqiang Wang, Zhenshan Bing, Boqi Li, Alois Knoll
   Advanced Intelligent Systems 2023 | paper

6. Robot Policy Improvement with Natural Evolution Strategies for Stable Nonlinear Dynamical System
   Yingbai Hu, Guang Chen, Zhijun Li, Alois Knoll
   IEEE Transactions on Cybernetics 2022 | paper

7. Human Intention-Aware Motion Planning and Adaptive Fuzzy Control for a Collaborative Robot With Flexible Joints
   Xiaoqin Ren, Zhijun Li, Mengchu Zhou, Yingbai Hu
   IEEE Transactions on Fuzzy Systems 2022 | paper

8. NeuroGrasp: multimodal neural network with Euler region regression for neuromorphic vision-based grasp pose estimation
   Hu Cao, Guang Chen, Zhijun Li, Yingbai Hu, Alois Knoll
   IEEE Transactions on Instrumentation and Measurement 2022 | paper

9. Integrated Task Sensing and Whole Body Control for Mobile Manipulation With Series Elastic Actuators
   Xiaoqian Ren, Yueyue Liu, Yingbai Hu, Zhijun Li
   IEEE Transactions on Automation Science and Engineering 2022 | paper

10. Design and Control of a Highly Redundant Rigid-Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling
    Yingbai Hu, Jian Li, Yongquan Chen, Qiwen Wang, Chuliang Chi, Heng Zhang, Qing Gao, Yuanmin Lan, Zheng Li, Zonggao Mu, Zhenglong Sun, Alois Knoll
    IEEE Robotics and Automation Letters (also presented in ICRA2021) 2021 | paper

11. Fuzzy-torque approximation-enhanced sliding mode control for lateral stability of mobile robot
    Jiehao Li, Junzheng Wang, Hui Peng, Yingbai Hu, Hang Su
    IEEE Transactions on Systems, Man, and Cybernetics: Systems 2021 | paper

12. A novel autonomous learning framework to enhance sEMG-based hand gesture recognition using depth information
    Salih Ertug Ovur, Xuanyi Zhou, Wen Qi, Longbin Zhang, Yingbai Hu, Hang Su, Giancarlo Ferrigno, Elena De Momi
    Biomedical Signal Processing and Control 2021 | paper

13. Nonlinear model predictive control for mobile medical robot using neural optimization
    Yingbai Hu, Hang Su, Junling Fu, Hamid Reza Karimi, Giancarlo Ferrigno, Elena De Momi, Alois Knoll
    IEEE Transactions on Industrial Electronics 2020 | paper

14. Ankle joint torque estimation using an EMG-driven neuromusculoskeletal model and an artificial neural network model
    Longbin Zhang, Zhijun Li, Yingbai Hu, Christian Smith, Elena M Gutierrez Farewik, Ruoli Wang
    IEEE Transactions on Automation Science and Engineering 2020 | paper

15. An incremental learning framework for human-like redundancy optimization of anthropomorphic manipulators
    Hang Su, Wen Qi, Yingbai Hu, Hamid Reza Karimi, Giancarlo Ferrigno, Elena De Momi
    IEEE Transactions on Industrial Informatics 2020 | paper

16. Improved recurrent neural network-based manipulator control with remote center of motion constraints: Experimental results
    Hang Su, Yingbai Hu, Hamid Reza Karimi, Alois Knoll, Giancarlo Ferrigno, Elena De Momi
    Neural Networks 2020 | paper

17. A novel muscle-computer interface for hand gesture recognition using depth vision
    Xuanyi Zhou, Wen Qi, Salih Ertug Ovur, Longbin Zhang, Yingbai Hu, Hang Su, Giancarlo Ferrigno, Elena De Momi
    Journal of Ambient Intelligence and Humanized Computing 2020 | paper

18. Neural fuzzy approximation enhanced autonomous tracking control of the wheel-legged robot under uncertain physical interaction
    Jiehao Li, Junzheng Wang, Hui Peng, Longbin Zhang, Yingbai Hu, Hang Su
    Neurocomputing 2020 | paper

19. Experimental validation of manipulability optimization control of a 7‐DoF serial manipulator for robot‐assisted surgery
    Hang Su, Andrea Danioni, Robert Mihai Mira, Matteo Ungari, Xuanyi Zhou, Jiehao Li, Yingbai Hu*, Giancarlo Ferrigno, Elena De Momi
    The International Journal of Medical Robotics and Computer Assisted Surgery 2020 | paper

20. Skill learning strategy based on dynamic motion primitives for human–robot cooperative manipulation
    Junjun Li, Zhijun Li, Xinde Li, Ying Feng, Yingbai Hu, Bugong Xu
    IEEE Transactions on Cognitive and Developmental Systems 2020 | paper

21. Multimodal data fusion framework enhanced robot-assisted minimally invasive surgery
    Wen Qi, Hang Su, Ke Fan, Ziyang Chen, Jiehao Li, Xuanyi Zhou, Yingbai Hu, Longbin Zhang, Giancarlo Ferrigno, Elena De Momi
    Transactions of the Institute of Measurement and Control 2020 | paper

22. Event-based Robotic Grasping Detection with Neuromorphic Vision Sensor and Event-Stream Dataset
    Bin Li, Hu Cao, Zhongnan Qu, Yingbai Hu, Zhenke Wang, Zichen Liang
    Frontiers in Neurorobotics 2020 | paper

23. Evolution strategies learning with variable impedance control for grasping under uncertainty
    Yingbai Hu, Xinyu Wu, Peng Geng, Zhijun Li
    IEEE Transactions on Industrial electronics 2018 | paper

24. Cooperative manipulation for a mobile dual-arm robot using sequences of dynamic movement primitives
    Ting Zhao, Mingdi Deng, Zhijun Li, Yingbai Hu
    IEEE Transactions on Cognitive and Developmental Systems 2018 | paper

25. Reinforcement Learning of Manipulation and Grasping Using Dynamical Movement Primitives for a Humanoidlike Mobile Manipulator
    Zhijun Li, Ting Zhao, Fei Chen, Yingbai Hu, Chun-Yi Su, Toshio Fukuda
    IEEE/ASME Transactions on Mechatronics 2017 | paper

26. Development of sensory-motor fusion-based manipulation and grasping control for a robotic hand-eye system
    Yingbai Hu, Zhijun Li, Guanglin Li, Peijiang Yuan, Chenguang Yang, Rong Song
    IEEE Transactions on Systems, Man, and Cybernetics: Systems 2016 | paper

Selected Conference Papers:

1. Robust Point Cloud Registration with Geometry-Based Transformation Invariant Descriptor
   Jianjie Lin, Markus Rickert, Long Wen, Yingbai Hu, Alois Knoll
   IEEE-IROS 2023 | paper

2. Adaptive Neural Network Tracking for a Magnetic Microrobot in Presence of Model Uncertainty and Unknown Disturbance
   Haoyu Wang, Yueyue Liu, Qigao Fan, Xiaoyu Wu, Yingbai Hu
   IEEE-CASE 2023 | paper

3. Sensor Fusion-based Anthropomorphic Control of Under-Actuated Bionic Hand in Dynamic Environment
   Hang Su, Junhao Zhang, Junling Fu, Salih Ertug Ovur, Wen Qi, Guoxin Li, Yingbai Hu, Zhijun Li
   IEEE-IROS 2022 | paper

4. Hierarchical optimization control of redundant manipulator for robot-assisted minimally invasive surgery
   Yingbai Hu, Hang Su, Guang Chen, Giancarlo Ferrigno, Elena De Momi, Alois Knoll
   IEEE-IROS 2020 | paper

5. A Framework for the Integration of Coarse Sensing Information and Environmental Constraints
   Rui Li, Yingbai Hu, Yanjun Cao, Mengyao Li
   IEEE-ROMAN 2020 | paper

6. Reinforcement Learning Based Manipulation Skill Transferring for Robot-assisted Minimally Invasive Surgery
   Hang Su, Yingbai Hu*, Zhijun Li, Alois Knoll, Giancarlo Ferrigno, Elena De Momi
   IEEE-ICRA 2020 | paper

7. Internet of things (IoT)-based Collaborative Control of a Redundant Manipulator for Teleoperated Minimally Invasive Surgeries
   Hang Su, Ertug Ovur Salih, Zhijun Li, Yingbai Hu, Jiehao Li, Alois Knoll, Giancarlo Ferrigno, Elena De Momi
   IEEE-ICRA 2020 | paper

8. Improving Motion Planning for Surgical Robot with Active Constraints
   Hang Su, Yingbai Hu*, Jiehao Li, Jing Guo, Yuan Liu, Mengyao Li, Alois Knoll, Giancarlo Ferrigno, Elena De Momi
   IEEE-IROS 2020 | paper

9. Mobile robot learning from human demonstrations with nonlinear model predictive control
   Yingbai Hu, Guang Chen, Xiangyu Ning, Jinhu Dong, Shu Liu, Alois Knoll
   IEEE-IROS 2019 | paper

Awards