Guiyang Xin

Guiyang Xin

University of Edinburgh
 School of Informatics
 1.17 Bayes Centre, 47 Potterrow
Edinburgh EH8 9BT
United Kingdom
P: +44 (0)786 4549 855
guiyangxin15@gmail.com

Skills

Developing controllers in C and C++, often on Xenomai-patched real-time Linux. Expert in ROS, Gazebo and Drake, using C++, for modelling and simulation. Proficient in Matlab for general data-processing and idea-testing. Using Git for version control, writing in TeX/LaTeX. I can use HTML with css and javascript for simple web-development, e.g. this website.

Professional Experience

Post-Doctoral Researcher (2018 to present)

  • Edinburgh Centre for Robotics, University of Edinburgh.

Academic Experience

Teaching

School of Mechanical and Electrical Engineering, Central South University.

  • Undergraduate graduation project, 2014 and 2015.

Students

Here is the list of students that I had the opportunity to work with over the past few years. These are the students whose projects I proposed and supervised.

Alfredo Bochicchio was an internship student working on ICP with me. He is a PhD student at Sant’Anna University currently.

Shidong Long was a master student working on the nuclear rescue robot with me. He is a mechanical engineer at CCCC-FHDI Engineering Co., Ltd.

Jun Dai is a PhD student at Central South University. His research interests focus on force/position hybrid control and high-precision trajectory tracking control.

Education

Ph.D in Mechanical Engineering (2012-2018)

  • School of Mechanical and Electrical Engineering, Central South University

B.E. in Machine Design, Manufacturing and its Automation (2008-2012)

  • School of Mechanical Engineering and Electronic Information, China University of Geosciences

Publications

  • Wouter Wolfslag, Christopher McGreavy, Guiyang Xin, Carlo Tiseo, Sethu Vijayakumar, Zhibin Li, Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. (Accepted, available on https://arxiv.org/abs/2002.10552)
  • Guiyang Xin, Carlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar, Michael Mistry, Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots. IEEE 16th International Conference on Automation Science and Engineering (CASE), 2020. (Accepted, available on https://arxiv.org/abs/2004.02996)
  • Guiyang Xin, Joshua Smith, David Rytz, Wouter Wolfslag, Hsiu-Chin Lin, Michael Mistry, Bounded haptic teleoperation of a quadruped robot’s foot posture for sensing and manipulation. The 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), 2020. (Accepted, available on https://arxiv.org/abs/1912.07315)
  • Guiyang Xin, Wouter Wolfslag, Hsiu-Chin Lin, Carlo Tiseo, Michael Mistry. An optimization-based locomotion controller for quadruped robots leveraging Cartesian impedance control. Frontiers in Robotics and AI, 2020, 7: 48.
  • Franco Angelini, Guiyang Xin, Wouter Wolfslag, Carlo Tiseo, Michael Mistry, Manolo Garabini, Antonio Bicchi, Sethu Vijayakumar. Online Optimal Impedance Planning for Legged Robots. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2019.
  • Belter D, Bednarek J, Lin H-C, Xin G, Mistry M. Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion. In 2019 IEEE International Conference on Robotics and Automation (ICRA). 2019.
  • Guiyang Xin, Hsiu-Chin Lin, Joshua Smith, Oguzhan Cebe, Michael Mistry, A Model-based Hierarchical Controller for Legged Systems subject to External Disturbances. Robotics and Automation (ICRA), 2018 IEEE International Conference on, 2018, pp. 4375-4382.
  • Niels Dehio, Joshua Smith, Dennis Wigand, Guiyang Xin, Hsiu-Chin Lin, Jochen J. Steil, Michael Mistry. Decoupled Motion and Force Control for Quadro-Arm Manipulation. Robotics and Automation (ICRA), 2018 IEEE International Conference on, 2018, pp. 294-301.
  • Guiyang Xin, Guoliang Zhong, Hengsheng Wang, Hua Deng, Optimal Driving Force Distribution for a Six-parallel-legged Robot Using Dual Quadratic Programming Method. Chinese Journal of Mechanical Engineering, 2018, 54(7): 20-27.
  • Hua Deng, Guiyang Xin, Guoliang Zhong, Michael Mistry, Object Carrying of Hexapod Robots with Integrated Mechanism of Leg and Arm. Robotics and Computer-Integrated Manufacturing, 2018, 54: 145-155.
  • Hua Deng, Guiyang Xin, Guoliang Zhong, Michael Mistry, Gait and Trajectory Rolling Planning and Control of Hexapod Robots for Disaster Rescue Applications. Robotics and Autonomous Systems, 2017, 95:13-24.
  • Guiyang Xin, Hua Deng, Guoliang Zhong, Hengsheng Wang, Gait and Trajectory Rolling Planning for Hexapod Robot in Complex Environment. Mechanism and Machine Science: Proceedings of ASIAN MMS 2016 & CCMMS 2016. Springer Singapore, 2017, pp. 23-33.
  • Guiyang Xin, Hua Deng, Guoliang Zhong, Closed-form Dynamics of a 3-DOF Spatial Parallel Manipulator by Combining the Lagrangian Formulation with the Virtual Work Principle. Nonlinear Dynamics, 2016, 86(2): 1329-1347.
  • Guoliang Zhong, Hua Deng, Guiyang Xin, Hengsheng Wang, Dynamic Hybrid Control of a Hexapod Walking Robot: Experimental Verification. IEEE Transactions on Industrial Electronics, 2016, 63(8): 5001-5011.
  • Guiyang Xin, Hua Deng, Guoliang Zhong, Hengsheng Wang, Hierarchical Kinematic Modeling and Optimal Design of a Novel Hexapod Robot with Integrated Limb Mechanism. International Journal of Advanced Robotic Systems, 2015, 12:123.
  • Guiyang Xin, Guoliang Zhong, Hua Deng, Dynamic Analysis of a Hexapod Robot with Parallel Leg Mechanisms for High Payloads. Proceedings of the 10th Asian Control Conference 2015 (ASCC2015), Kota Kinabalu, Malaysia, 31st May – 3rd June 2015, pp. 1230-1235.
  • Shidong Long, Guiyang Xin, Hua Deng, Guoliang Zhong, An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects. International Journal of Advanced Robotic Systems, 2015, 12:59.
  • Guoliang Zhong, Shidong Long, Hua Deng, Guiyang Xin, Yukinori Kobayashi, A Comparison of Tracking Control Methods in Multi-Legged Robots. Proceedings of the 10th Asian Control Conference 2015 (ASCC2015), Kota Kinabalu, Malaysia, 31st May – 3rd June 2015, pp. 61-66.
  • Guoliang Zhong, Hua Deng, Yukinori Kobayashi, Guiyang Xin, Measure and Control of Stability for Mobile Robots. Proceedings of 2014 SICE Annual Conference (SICE), Sapporo, Japan, 9-12 Sept. 2014, IEEE, pp. 1079-1084.

Language Ability

  • English: Professional working proficiency
  • Chinese: Native
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