From Mai 2017 I am a PhD student supervised by Dr. Georg Martius. Before that, I finished my Master study in Medical Engineering & Mechanical Engineering in RWTH Aachen University, and Bachelor study in Mechatronics at Chengxian Class of South East University.
My research interests fall in the areas of haptic system, robotic system and medical imaging system. Currently, I am working on haptic projects aiming at designing full body sensing system for humanoids.
During the rapid development of robot technologies, actuators and sensors have become increasingly compact and powerful. Nevertheless, robots are still far from matching human capabilities especially when it comes to touch sensation. For this, haptic sensors have to be robust to sustain long-last...
Proceedings International Conference on Humanoid Robots, pages: 846-853, IEEE, New York, NY, USA, 2018 IEEE-RAS International Conference on Humanoid Robots, 2018, Oral Presentation (conference)
Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical sensors instead of employing dense sensor arrays. Using machine learning techniques, we optimize the sensor number and their placement and are able to obtain high-precision force inference for a robotic limb using as few as 9 sensors. For the optimal and sparse placement of the measurement units (strain gauges), we employ data-driven methods based on data obtained by finite element simulation. We compare data-driven approaches with model-based methods relying on geometric distance and information criteria such as Entropy and Mutual Information. We validate our approach on a modified limb of the “Poppy” robot  and obtain 8 mm localization precision.
Our goal is to understand the principles of Perception, Action and Learning in autonomous systems that successfully interact with complex environments and to use this understanding to design future systems