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

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

• Peking University Outstanding Research Award (北京大学科研优秀奖)   2022
• Tsinghua Comprehensive Excellence Scholarship (清华大学综合优秀奖学金)   2020
• Outstanding Graduate at Beijing (北京市优秀毕业生)   2017
• China National Scholarship (国家奖学金)   2015
• China National Encouragement Scholarship (国家励志奖学金)   2014/2016
• NCEPU First-class Honour Scholarship (华北电力大学一等奖学金)   2014/2015/2016

Competitions

• 2nd Prize in China Graduate Robotics Innovation Design Competition (Team Leader, Designed a Continuum Spinal Rehabilitation Robot) [Project]   2021
• 2nd Place in ZC-Cup Frontier Technology Challenge (Team Work, Contributions to the autonomous navigation of a maze challenge) [Project]   2020
• 1st Prize in Capital Mechanical Innovation Design Competition (Team Leader, Designed an Express Packaging Robot)   2016
• 1st Prize in China Siemens-Cup Intelligent Manufacturing Challenge   2016
• Champion in Robots Competition of Universities at Beijing (Team Leader, Robots Combat) [Project]   2015
• 2nd Prize in Beijing Engineering Ability Competition (Team Leader, Designed a Bluetooth Cargo Robot) [Project]   2015
• 2nd Prize in China LQ-Cup C/C++ Programming Competition (Individual Events)   2015
• 2nd Prize in China National Olympiad in Informatics in Provinces (NOIP)   2012

Academic Service

• Reviewer for IEEE ICRA, IROS, CDC, ACC, AIM