Wei-Cheng Huang (黃韋程)

Master of Sceince in Robotics @ the GRASP Lab, University of Pennsylvania.

This is Wei-Cheng (Rory) Huang. I am currently a Master of Science student in Robotics, at University of Pennsylvania. Before joining UPenn, I obtained my Bachelor of Engineering degree in Mechanical Engineering from Shanghai Jiao Tong University, where I worked in Soft Robotics and Biodesign (SRB) Lab with Professor Guoying Gu.

I am keen on robots that interact with humans or challenging environments. Therefore, my research interest lies in the interdisciplinary combination of control, planning, optimization and machine learning with applications in robotic dexterous manipulation. I am fortunate to be a member of Dynamic Autonomy and Intelligent Robotics (DAIR) Lab and advised by Professor Michael Posa, and currently I am conducting research project focusing on hybrid multi-contact model predictive control in robotic manipulation.

               


Education

  • M.S.E. Robotics, University of Pennsylvania (Pennsylvania, PA), 2022-2024 (Expected)
    • Specialized in control, optimization and learning with applications in Robotic Manipulation
    GPA: 4.0 / 4.0

  • B.E. Mechanical Engineering, Shanghai Jiao Tong University (Shanghai, China), 2018-2022
    • Major: Mechanical Engineering (Honorary Pilot Class), Robotics Track
    Minor: B.BA. Business Administration, Operation Research Track
    GPA: 3.9 / 4.0, Ranking: 1 / 219 in ME department

Research Projects and Publications

Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning
Wei-Cheng Huang*, Alp Aydinoglu*, Wanxin Jin, and Michael Posa
Accepted to 2024 International Conference on Robotics and Automation (ICRA)
[PDF]/ [Code]/ [Video]/ [Webpage]
More demos
Rolling irregular shaped lime with
rough sphere model		 Adaptation enable robust manipulation
under unpredictable motion		 Online learning and fixing inaccurate model with few push trials

Consensus Complementarity Control for Multi-Contact MPC
Alp Aydinoglu, Adam Wei, Wei-Cheng Huang, and Michael Posa
Submitted to IEEE Transactions on Robotics (T-RO), under review
[PDF]/ [Code]/ [Video]
More demos
Stabilizing cartpole with soft wall Rolling three balls in real time Pivoting 2D cube with finger gaiting

Low-Resistance, High-Force, and Large-ROM Fabric-Based Soft Elbow Exosuits with Adaptive Mechanism and Composite Bellows
Wei-Cheng Huang*, Miao Feng*, Dezhi Yang and Guoying Gu
Science China Technological Sciences 66.1 (2023): 24-32
[PDF]

Robotics Projects

Multi-robot system formation control Vison-based fruit pick-and-place with penumatic soft gripper Residual learning for bipedal locomotion on rough terrain Trajectory planning and control of autonomous VIO-based quadrotor