Research

2026

A Humanoid TacTip Gripper with SSIM-CNN Recognition for Strawberry Harvesting

Kunlin Guo, Honggang Chen, Yuxiang Feng, Jiehao Li, Zhenyu Lu, Chenguang Yang

IEEE Transactions on Automation Science and Engineering

PDF

Efficient Visual Manipulation Relationship Reasoning With Relationship Attention and Sparse Graph in Robotic Grasping

Lu Chen, Zhuomao Li, Zhou Zhao, Zhenyu Lu, Huaiyao Wang, Chenguang Yang

IEEE Transactions on Automation Science and Engineering

PDF

Adaptive Stiffness Control for Series Elastic Actuators in Robotic Systems Using Dynamic Systems

Kunlin Guo, Zhenyu Lu, Zhiwei Tan

Computational Intelligence

PDF

TacShade 2.0: A New Greyscale Pattern-Based Optical Tactile Sensor for Robotic Perception and Adaptive Admittance Control

Jialong Yang, Zhenyu Lu, Chao Zeng, Fan Zhang, Chenguang Yang

IEEE Transactions on Instrumentation and Measurement

PDF

2025

Observer-Based Fuzzy Adaptive Admittance Control for Unknown Environment-Coupled Physical Human-Robot Interaction With Prescribed Tracking

Chengguo Liu, Kai Zhao, Zhenyu Lu, Chaoyang Li

IEEE Transactions on Fuzzy Systems

PDF

A Multi-Task Learning System for Composites Defect Segmentation and Classification with TacRoller

Xiaolong Li, Tunwu Li, Zhenyu Lu, Chao Zeng, Guangliang Cheng, Chenguang Yang

2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PDF

Wireless Tactile Sensor with Embedded Neural Network for Multifunctional Contact Detection

Yuxiang Feng, Yixuan Jin, Mingxu Chen, Jialong Yang, Guanqun Cao, Chenguang Yang, Zhenyu Lu

2025 30th International Conference on Automation and Computing (ICAC)

PDF

Grasp representation and detection with consistent path in robotic grasping

Lu Chen, Zhuomao Li, Jing Yang, Zhenyu Lu, Peng Wu, Tianhua Chen

IEEE Transactions on Cognitive and Developmental Systems

PDF

Optical Flow-Based Depth Prediction and Defect Detection Using TacRoller with MOGA-Enhanced U-Net

Yuxiang Feng, Xiaolong Li, Tunwu Li, Zelin Cai, Zhenyu Lu, Chenguang Yang

2025 IEEE 20th Conference on Industrial Electronics and Applications

PDF

A Smart Textile-Based Tactile Sensing System for Multi-Channel Sign Language Recognition

Keran Chen, Longnan Li, Qinyao Peng, Mengyuan He, Liyun Ma, Xinxin Li, Zhenyu Lu

Sensors

PDF

Neuro‐Observer Based Adaptive Fixed‐Time Fault‐Tolerant Control for Uncertain Teleoperation System With Input Saturation and Asymmetric Time‐Varying Output Constraints

Longnan Li, Lanyong Zhang, Zhenyu Lu, Chenguang Yang

International Journal of Robust and Nonlinear Control

PDF

Admittance-based adaptive predefined-time fault-tolerant control for physical human–robot interaction with prescribed tracking

Longnan Li, Lanyong Zhang, Zhenyu Lu, Panfeng Huang, Chenguang Yang

IEEE Transactions on Industrial Electronics

PDF

Occlusion-aware 6D pose estimation with depth-guided graph encoding and cross-semantic fusion for robotic grasping

Jingyang Liu, Zhenyu Lu, Lu Chen, Jing Yang, Chenguang Yang

2025 IEEE International Conference on Robotics and Automation (ICRA)

PDF

Embodying soft robots with octopus-inspired hierarchical suction intelligence

Tianqi Yue, Chenghua Lu, Kailuan Tang, Qiukai Qi, Zhenyu Lu, Loong Yi Lee, Hermes Bloomfield-Gadȇlha, Jonathan Rossiter

Science Robotics

PDF

Exploring the synergistic effects of teleoperation scaling ratio and learning from demonstration

Donghao Shi, Sihan Jin, Chenguang Yang, Zhenyu Lu, Qinchuan Li

IEEE Transactions on Automation Science and Engineering

PDF

An enhanced yolov8 model for needle tip recognition in ultrasound images for prostate brachytherapy

Yanlei Li, Meiying Chen, Zhenyu Lu, Amit Bahl, Raj Persad, Chenguang Yang

2025 11th international conference on electrical engineering, control and robotics (eecr)

PDF

Advanced Teleoperation and Robot Learning for Dexterous Manipulation

Chenguang Yang, Zhenyu Lu, Ning Wang

Springer Nature Switzerland

PDF

2024

Domain-invariant feature learning via margin and structure priors for robotic grasping

Lu Chen, Zhuomao Li, Zhenyu Lu, Yuwei Wang, Hong Nie, Chenguang Yang

IEEE Robotics and Automation Letters

PDF

Robotic and intelligent technologies in composite material inspection: a review

Xiaolong Li, Zhenyu Lu, Chao Zeng

Robot Learning

PDF

A learning system for deformable object cooperative manipulation

Donghao Shi, Hao Hu, Chenguang Yang, Zhenyu Lu, Qinchuan Li

IEEE Transactions on Automation Science and Engineering

PDF

Teleoperation with automatic posture regulation and broad learning control for assembly tasks

Liwen Situ, Zhenyu Lu, Chenguang Yang

Sci. China Inf. Sci

PDF

Gesture Capture and Recognition of Wearable Systems Based on Smart Textile Materials

Qinyao Peng, Mengyuan He, Liyun Ma, Xinxin Li, Keran Chen, Zhenyu Lu, Ning Wang

Sci. China Inf. Sci

PDF

Human multi-dimensional stiffness skills transfer for robot teleoperation system

Liwen Situ, Zhenyu Lu, Weiyong Si, Chenguang Yang

2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

PDF

A stable guidance method for teleoperation-based robot learning from demonstration

Weiyong Si, Zhehao Jin, Zhenyu Lu, Ning Wang, Chenguang Yang

2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)

PDF

Enhanced RAMPAGE Framework for Mobile Manipulator Motion Planning

Mengyuan He, Yuqiang Yang, Zhenyu Lu, Zhiquan Fu, Wang Ning, Chenguang Yang

International Conference on Intelligent Robotics and Applications

PDF

Smaller and faster robotic grasp detection model via knowledge distillation and unequal feature encoding

Hong Nie, Zhou Zhao, Lu Chen, Zhenyu Lu, Zhuomao Li, Jing Yang

IEEE Robotics and Automation Letters

PDF

Dynamic movement primitives-based human action prediction and shared control for bilateral robot teleoperation

Zhenyu Lu, Weiyong Si, Ning Wang, Chenguang Yang

IEEE Transactions on Industrial Electronics

PDF

TacShade: a new 3D-printed soft optical tactile sensor based on light, shadow and greyscale for shape reconstruction

Zhenyu Lu, Jialong Yang, Haoran Li, Yifan Li, Weiyong Si, Nathan Lepora, Chenguang Yang

2024 IEEE International Conference on Robotics and Automation (ICRA)

PDF

Biotactip: A soft biomimetic optical tactile sensor for efficient 3d contact localization and 3d force estimation

Haoran Li, Saekwang Nam, Zhenyu Lu, Chenguang Yang, Efi Psomopoulou, Nathan F Lepora

IEEE Robotics and Automation Letters

PDF

An innovative tactile sensor roller for composites inspection

Zhenyu Lu, Xiaolong Li, Tunwu Li, Xiaodong Xu, Chenguang Yang

2024 IEEE International Conference on Industrial Technology (ICIT)

PDF

2023

Vergnet: Visual enhancement guided robotic grasp detection under low-light condition

Mingdi Niu, Zhenyu Lu, Lu Chen, Jing Yang, Chenguang Yang

IEEE Robotics and Automation Letters

PDF

MechTac: A Multifunctional Tendon-linked Optical Tactile Sensor for in/out-the-field-of-view Perception with Deep Learning

Zhenyu Lu, Tianqi Yue, Zhou Zhao, Weiyong Si, Ning Wang, Chenguang Yang

IECON 2023-49th Annual Conference of the IEEE Industrial Electronics Society

PDF

A closed-form solution for inverse kinematics of redundant space manipulator with multiple joint offsets

Shiou Wang, Zhengxiong Liu, Zhiqiang Ma, Haitao Chang, Panfeng Huang, Zhenyu Lu

Advances in space research

PDF

A 3-DOF Haptic Feedback System for Displaying Sliding and Torsion Effects Detected by TacTip Sensor

Hengtai Dai, Zhenyu Lu, Chenguang Yang, Shangbin Dai

2023 28th International Conference on Automation and Computing (ICAC)

PDF

A constrained framework based on IBLF for robot learning with human supervision

Donghao Shi, Qinchuan Li, Chenguang Yang, Zhenyu Lu

Robotica

PDF

A bioinspired multifunctional tendon-driven tactile sensor and application in obstacle avoidance using reinforcement learning

Zhenyu Lu, Zhou Zhao, Tianqi Yue, Xu Zhu, Ning Wang

IEEE Transactions on Cognitive and Developmental Systems

PDF

Distributed observer-based prescribed performance control for multi-robot deformable object cooperative teleoperation

Zhenyu Lu, Ning Wang, Weiyong Si, Chenguang Yang

IEEE Transactions on Automation Science and Engineering

PDF

Visual-tactile robot grasping based on human skill learning from demonstrations using a wearable parallel hand exoskeleton

Zhenyu Lu, Lu Chen, Hengtai Dai, Haoran Li, Zhou Zhao, Bofang Zheng, Nathan F Lepora, Chenguang Yang

IEEE Robotics and Automation Letters

PDF

Optical soft tactile sensor algorithm based on multiscale ResNet

Zhenyu Lu, Tianyu Yang, Zhengshuai Cao, Dong Luo, Qi Zhang, Yan Liang, Yuming Dong

IEEE Sensors Journal

PDF

Handheld device design for robotic teleoperation based on multi-sensor fusion

Zhenyu Lu, Tianyu Yang, Zhengshuai Cao, Dong Luo, Qi Zhang, Yan Liang, Yuming Dong

2023 IEEE International Conference on Mechatronics (ICM)

PDF

Handheld device design for robotic teleoperation based on multi-sensor fusion

Zhenyu Lu, Tianyu Yang, Zhengshuai Cao, Dong Luo, Qi Zhang, Yan Liang, Yuming Dong

IEEE Sensors Journal

PDF

2022

Multi-purpose tactile perception based on deep learning in a new tendon-driven optical tactile sensor

Zhou Zhao, Zhenyu Lu

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PDF

Distributed impedance control for cellular space robot in spacecraft takeover control

Haitao Chang, Xiyao Liu, Tong Wang, Zhenyu Lu

IECON 2022–48th Annual Conference of the IEEE Industrial Electronics Society

PDF

A modified LSTM model for Chinese sign language recognition using leap motion

Bixiao Wu, Zhenyu Lu, Chenguang Yang

2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

PDF

Deformation-aware contact-rich manipulation skills learning and compliant control

Weiyong Si, Cheng Guo, Jiale Dong, Zhenyu Lu, Chenguang Yang

International Workshop on Human-Friendly Robotics

PDF

Deformation-aware contact-rich manipulation skills learning and compliant control

Weiyong Si, Cheng Guo, Jiale Dong, Zhenyu Lu, Chenguang Yang

International Workshop on Human-Friendly Robotics

PDF

Fixed-time Adaptive Neural Control for Robot Manipulators with Input Saturation and Disturbance

Haiqi Huang, Zhenyu Lu, Ning Wang, Chenguang Yang

2022 27th International Conference on Automation and Computing (ICAC)

PDF

Novel gripper-like exoskeleton design for robotic grasping based on learning from demonstration

Hengtai Dai, Zhenyu Lu, Mengyuan He, Chenguang Yang

2022 27th International Conference on Automation and Computing (ICAC)

PDF

Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks: Creating an Incremental and Explainable Neural Network With Functional Linkage

Zhenyu Lu, Ning Wang

IEEE Robotics & Automation Magazine

PDF

DMPs-based skill learning for redundant dual-arm robotic synchronized cooperative manipulation

Zhenyu Lu, Ning Wang, Donghao Shi

Complex & Intelligent Systems

PDF

2021

Incremental motor skill learning and generalization from human dynamic reactions based on dynamic movement primitives and fuzzy logic system

Zhenyu Lu, Ning Wang, Miao Li, Chenguang Yang

IEEE Transactions on Fuzzy Systems

PDF

Dynamic movement primitives based cloud robotic skill learning for point and non-point obstacle avoidance

Zhenyu Lu, Ning Wang

Assembly Automation

PDF

A constrained DMPs framework for robot skills learning and generalization from human demonstrations

Zhenyu Lu, Ning Wang, Chenguang Yang

IEEE/ASME Transactions on Mechatronics

PDF

2020 and earlier

Recent advances in robot‐assisted echography: combining perception, control and cognition

Zhenyu Lu, Miao Li, Andy Annamalai, Chenguang Yang

Cognitive Computation and Systems

PDF

High‐gain nonlinear observer‐based impedance control for deformable object cooperative teleoperation with nonlinear contact model

Zhenyu Lu, Panfeng Huang, Zhengxiong Liu

International Journal of Robust and Nonlinear Control

PDF

Teleoperation for space manipulator based on complex virtual fixtures

Zhengxiong Liu, Zhenyu Lu, Yang Yang, Panfeng Huang

Robotics and Autonomous Systems

PDF

Adaptive robust control for bimanual cooperative contact teleoperation with relative jacobian matrix

Zhenyu Lu, Panfeng Huang, Ruizhou Cheng, Zhengxiong Liu, Zhongjie Meng

Journal of Intelligent & Robotic Systems

PDF

Relative impedance-based internal force control for bimanual robot teleoperation with varying time delay

Zhenyu Lu, Panfeng Huang, Zhengxiong Liu

IEEE Transactions on Industrial Electronics

PDF

Lightweight Intelligent Repair Robot for Distribution Line Maintenance

2025

This project focuses on key technologies including lightweight robotic structural design, multi-dimensional visual perception, intelligent control, and coordinated unmanned aerial vehicle deployment. The design adopts aerospace-grade aluminum alloy and delivers higher mobility and deployment efficiency than conventional solutions. It also supports long-duration continuous operation, stable long-range communication, and low-latency control, meeting the needs of efficient, safe, and intelligent repair operations in complex distribution line environments.

In collaboration with China Southern Power Grid 2025-2028