Yuhao Jiang, PhD

Yuhao Jiang, PhD

Postdoc Researcher in Robotics

About me

My name is Yuhao Jiang (蒋宇豪). I’m a postdoc researcher working with Prof. Jamie Paik at Reconfigurable Robotics Lab, EPFL. I obtained my Ph.D. degree in Mechanical Engineering from Arizona State University in Aug. 2023 under the supervision of Prof. Daniel Aukes. I received my M.S. and B.S. degree in Mechanical Engineering respectively from University of Florida in 2017 and Donghua University in 2015.

Research Interest

I seek to explore novel mechanisms and control strategies aimed at enhancing the accessibility, functionality, and reliability of soft reconfigurable modular robotic systems across a spectrum of challenging and unfamiliar environments. My research centers on using dynamic modeling methods, complemented by simulations and machine learning techniques, to study and develop novel mechanisms and advanced controls for soft robotic systems. Moreover, I actively engage in mentoring students, guiding them through designing, modeling, prototyping, and testing cutting-edge robotic systems tailored for locomotion and manipulation tasks.

Publications

  • Y. Jiang, S. Asmar, Z. Wang, S. Demirtas, and J. Paik, “CPG-based Manipulation with Multi-Module Origami Robot Surface,” submitted, October 2024

  • Y. Jiang, F. Chen, J. Paik, and D. M. Aukes, “Locomotion via Vibration of Soft, Twisted Beams with an Under-actuated Quadruped,” submitted, June 2024.

  • Y. Jiang, F. Chen and D. M. Aukes, “Tunable Dynamic Walking via Soft Twisted Beam Vibration,” IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 1967-1974, April 2023, https://doi.org/10.1109/LRA.2023.3244716.

  • Y. Jiang, M. Sharifzadeh, and D. M. Aukes, “Reconfigurable Soft Flexure Hinges via Pinched Tubes,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 8843-8850, https://doi.org/10.1109/IROS45743.2020.9341109.

  • Y. Jiang, M. Sharifzadeh, and D. M. Aukes, “Shape Change Propagation Through Soft Curved Materials for Dynamically-Tuned Paddling Robots,” 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft), 2021, pp. 230-237, https://doi.org/10.1109/RoboSoft51838.2021.9479208.

  • P. Bupe, Y. Jiang, J. Lin, T. Nguyen, M. Han, D. Aukes, C. Harnett, “Embedded Optical Waveguide Sensors for Dynamic Behavior Monitoring in Twisted-Beam Structures,” 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA, 2024, pp. 139-144, https://doi.org/10.1109/RoboSoft60065.2024.10521938.

  • M. Sharifzadeh, Y. Jiang, A. Lafmejani, D. M. Aukes, “Compensating for Material Deformation in Foldable Robots via Deep Learning – A Case Study,” 2022 IEEE International Conference on Robotics and Automation (ICRA), 2022, https://doi.org/10.1109/ICRA46639.2022.9811752.

  • M. Sharifzadeh, Y. Jiang, A. Lafmejani, K. Nichols, and D. M. Aukes, “Maneuverable gait selection for a novel fish-inspired robot using a CMA-ES-assisted workflow,” in Bioinspiration & Biomimetics, vol. 16, no. 5, pp. 056017, August 2021, https://doi.org/10.1088/1748-3190/ac165d.

  • M. Sharifzadeh, Y. Jiang, and D. M. Aukes, “Reconfigurable Curved Beams for Selectable Swimming Gaits in an Underwater Robot,” in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3437-3444, April 2021, https://doi.org/10.1109/LRA.2021.3063961.

  • Sharifzadeh, M, Jiang, Y, Khodambashi, R, & Aukes, D. “Increasing the Life Span of Foldable Manipulators With Fabric.” Proceedings of the ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 10: 44th Mechanisms and Robotics Conference (MR). Virtual, Online. August 17–19, 2020. V010T10A087. ASME. https://doi.org/10.1115/DETC2020-22757

Patents

  • “Pinched tubes for reconfigurable robots”, Daniel Aukes, Mohammad Sharifzadeh, Yuhao Jiang, Nicholas Gravish, Mingsong Jiang - US Patent US20230127106A1

  • “Buckling beams for underwater and terrestrial autonomous vehicles”, D Aukes, M Sharifzadeh, Y Jiang - US Patent US20230121727A1

  • “Mechanisms for steering robotic fish”, D Aukes, M Sharifzadeh, K Nichols, Y Jiang - US Patent US11124281B2

Presentations

  • RoboSoft 2023: Tunable Dynamic Walking via Soft Twisted Beam Vibration.

  • RoboSoft 2023 Workshop Presentation: Model Order Reduction for Vibrational Soft Twisted Beams Using Pseudo-rigid-body Modeling – A Case Study, https://youtu.be/7g6SEwEBvhU.

  • ICRA 2022: Compensating for Material Deformation in Foldable Robots Via Deep Learning – a Case Study, https://youtu.be/AwS4vabv-JQ.

  • ICRA 2022 Workshop Presentation (in person): Workshop on Modular Self-reconfigurable Robots: Yuhao Jiang, Paul Bupe, Jr, Nathan Justus, Curtis Sparks, Daniel Aukes, Nick Gravish, Cindy K. Harnett, Ross Hatton, “Modular Robots Using Soft Curved Reconfigurable Anisotropic Mechanisms”, May 23, 2022.

  • ICRA 2021: Reconfigurable Curved Beams for Selectable Swimming Gaits in an Underwater Robot, https://youtu.be/EszTDc9slyw.

  • Robosoft 2021: Shape Change Propagation Through Soft Curved Materials for Dynamically-Tuned Paddling Robots.

  • IROS 2020: Reconfigurable Soft Flexure Hinges via Pinched Tubes, https://youtu.be/J5heXXD6mVo.

Academic Services

  • Journal Reviewer: The International Journal of Robotics Research (IJRR), IEEE Transactions on Robotics (T-RO), IEEE Robotics and Automation Letters (RA-L), Soft Robotics (SoRo), Journal of Field Robotics (JFR), ASME Journal of Mechanisms and Robotics (JMR).
  • Conference Reviewer: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), International Conference on Robotics and Automation (ICRA), International Conference on Soft Robotics (Robosoft), ACM Symposium on Computational Fabrication (SCF)