Education

 College of Engineering, Peking University   09/2021 - present
 Beijing, China
 Ph.D. candidate in Mechanics

 Department of Automation, Tsinghua University   09/2018 - 08/2021
 Beijing/Shenzhen, China
 M.S. in Control Engineering

 New Energy School, North China Electric Power University   08/2013 - 06/2017
 Beijing, China
 B.E. in Wind Power (Outstanding Graduate at Beijing)

 Wrocław University of Science and Technology   02/2017 - 06/2017
 Wrocław, Poland
 Visiting Student

Research Experience

 College of Engineering, Peking University   09/2021 - present
 Beijing, China
 Advisor:  Prof. Feitian Zhang
 Topic:  Lighter-than-air aerial robots

 Shenzhen International Graduate School, Tsinghua University   09/2018 - 08/2021
 Shenzhen, China
 Advisor:  Prof. Houde Liu, Prof. Xueqian Wang
 Topic:  Perception and Control for Continuum Robots and Soft Robots

Publications

Journal Articles

Hao Cheng, Feitian Zhang

RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm

IEEE Transactions on Robotics (T-RO), 2025

[Paper] [Project] [Hardware & Code] [Video] [arXiv]

Yongjian Zhu, Hao Cheng, Feitian Zhang

Data-Driven Dynamics Modeling of Miniature Robotic Blimps Using Neural ODEs With Parameter Auto-Tuning

IEEE Robotics and Automation Letters (RA-L), 2024

[Paper] [Code] [arXiv]

Hao Cheng, Zeyu Sha, Yongjian Zhu, Feitian Zhang

RGBlimp: Robotic Gliding Blimp - Design, Modeling, Development, and Aerodynamics Analysis

IEEE Robotics and Automation Letters (RA-L), 2023 (Oral Presentation in IEEE IROS 2024)

[Paper] [Project] [Video] [arXiv]

Conference Papers

Yue Fan, Hao Cheng, Hongwu Wang, Feitian Zhang

Multi-Waypoint Navigation Control for Robotic Blimps Using Deep Reinforcement Learning

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2025

[Paper]

Hongwu Wang, Hao Cheng, Yue Fan, Feitian Zhang

Wind Disturbance Compensation for Path-Following Control of Robotic Blimps via Deep Reinforcement Learning

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2025

[Paper]

Hao Cheng, Hejie Xu, Hongji Shang, Xueqian Wang, Houde Liu, Bin Liang

Orientation to Pose: Continuum Robots Shape Reconstruction Based on the Multi-Attitude Solving Approach

IEEE International Conference on Robotics and Automation (ICRA), 2022 (Oral Presentation)

[Paper] [Project] [Video] [arXiv]

Hao Cheng, Houde Liu, Xueqian Wang, Bin Liang

Configuration Estimation of Continuum Robots Using Piecewise Constant Curvature Generalized Epi-Polar Constraint Model

IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021

[Paper]

Hao Cheng, Houde Liu, Xueqian Wang, Bin Liang

Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation

IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2020

[Paper] [arXiv]

Patents

Houde Liu, Hao Cheng, Xueqian Wang, Bin Lan, Bin Liang

Continuum Robot Shape Sensing Method Based on the Multi-attitude Solving Approach

(一种基于多姿态解算的连续型机器人形状感知方法), Chinese Patent CN113211440B, 2020

[Google Patents]

Bin Liang, Houde Liu, Hao Cheng, Xueqian Wang, Bin Lan

Kinematic Equivalence Method of Continuum Robot and Its Application

(一种连续型机器人运动学等效方法及应用), Chinese Patent CN111695213B, 2020

[Google Patents]

Awards & Honors

• National Scholarship (Doctoral), China, 2025
• Academic Innovation Award, Peking University, 2025
• Outstanding Research Award, Peking University, 2022
• Comprehensive Excellence Scholarship, Tsinghua University, 2020
• Outstanding Graduate at Beijing, China, 2017
• National Scholarship, China, 2015
• National Encouragement Scholarship, China, 2014 and 2016
• First-Class Scholarship, North China Electric Power University, 2014, 2015, and 2016

Competitions

• 1st Prize, Inclusive Design Comp. (Lead, suitcase for visually impaired), 2025
• 2nd Prize, Graduate Future Flight Vehicle Design Comp. (Lead, robotic gliding blimp), 2024
• 2nd Prize, Graduate Robotics Design Comp. (Lead, spinal rehab robot), 2021 [Project]
• 2nd Place, ZC-Cup Frontier Tech. Challenge (Contribution in Maze Nav), 2020 [Project]
• 1st Prize, Capital Mechanical Innovation Design Comp. (Lead, packaging robot), 2016
• 1st Prize, China Siemens-Cup Intelligent Manufacturing Challenge, 2016
• Champion, Robots Comp. of Universities at Beijing (Lead, robot combat), 2015 [Project]
• 2nd Prize, Beijing Eng. Ability Compet. (Lead, Bluetooth cargo robot), 2015 [Project]
• 2nd Prize, LQ-Cup C/C++ Programming Comp. (individual), 2015
• 2nd Prize, National Olympiad in Informatics in Provinces (NOIP, individual, C++), 2012

Academic Service

• Reviewer for IEEE T-RO, ICRA, IROS, CDC, ACC, and IEEE/ASME AIM