Xinjilefu
UBER Advanced Technology Center
Pittsburgh, PA 15201
xxinjile [at] gmail.com

I am an Engineer at Uber Advanced Technology Center. Drop me a note if you are interested, we are hiring.

I was a PhD student in the Robotics Institute at Carnegie Mellon University working with Professor Chris Atkeson. I am interested in optimization based state estimation and control of humanoid robots. Before joining CMU, I received both my B.Eng with Honours and M.Eng degrees in Electrical Engineering from McGill University. I worked with Professor Vincent Hayward and Professor Hannah Michalska on the balance control of the 3D double inverted pendulum.

Here is a draft of my PhD thesis.


The DARPA Robotics Challenge

I participated in the DARPA Robotics Challenge with Team WPI-CMU as the state estimation lead. We used the Atlas hydraulic humanoid robot developed by Boston Dynamics to compete. I have developed different state estimators for full body control, odometry and fall detection and prevention. Our team earned 7/8 points on both attempts, and finished 7th among the 24 competing teams from all over the world. The videos of both our runs can be found below.




Publications

Journal Articles
    Human-in-the-loop control of a humanoid robot for disaster response: a report from the DARPA Robotics Challenge trials
    Mathew DeDonato, Velin Dimitrov, Ruixiang Du, Ryan Giovacchini, Kevin Knoedler, Xianchao Long, Felipe Polido, Michael A. Gennert, Taskin Padir, Siyuan Feng, Hirotaka Moriguchi, Eric Whitman, X Xinjilefu, and Christopher G. Atkeson
    Journal of Field Robotics, Wiley (2015)
    [PDF | BIB]

    Optimization-based full body control for the DARPA Robotics Challenge,
    Siyuan Feng, Eric Whitman, X Xinjilefu, and Christopher G. Atkeson,
    Journal of Field Robotics, Wiley (2015)
    [PDF | BIB]

    Hybrid stabilizing control for the spatial double inverted pendulum
    X Xinjilefu, Vincent Hayward and Hannah Michalska
    Brain, Body and Machine, Springer (2010)
    [PDF | BIB]
Conference Papers
    A Distributed MEMS Gyro Network for Joint Velocity Estimation
    X Xinjilefu, Siyuan Feng, Christopher Atkeson
    IEEE International Conference on Robotics and Automation (ICRA) (2016) (submitted)
    [PDF | BIB]

    Center of mass estimator for humanoids and its application in modelling error compensation, fall detection and prevention
    X Xinjilefu, Siyuan Feng, and Christopher G. Atkeson,
    15th IEEE-RAS International Conference on Humanoid Robots (2015) (accepted)
    [PDF | VIDEO]

    Optimization based controller design and implementation for the Atlas robot in the DARPA Robotics Challenge Finals
    Siyuan Feng, X Xinjilefu, Christopher G. Atkeson, and Joohyung Kim
    15th IEEE-RAS International Conference on Humanoid Robots (2015) (accepted)
    [PDF | VIDEO]

    NO FALLS, NO RESETS: Reliable humanoid behavior in the DARPA Robotics Challenge
    Christopher. G. Atkeson, Benzun P. W. Babu, Nandan Banerjee, Dimitry Berenson, Chris P. Bove, Xiongyi Cui, Mathew DeDonato, Ruixiang Du, Siyuan Feng, Perry Franklin, Josh P. Graff, Peng He, Aaron Jaeger, Joohyung Kim, Kevin Knoedler, Lening Li, Chenggang Liu, Xianchao Long, Felipe Polido, Michael A. Gennert, Taskin Padir, Gregory G. Tighe, X Xinjilefu
    15th IEEE-RAS International Conference on Humanoid Robots (2015) (accepted)
    [PDF | VIDEO]

    Full-body motion planning and control for the car egress task of the DARPA Robotics Challenge
    Chenggang Liu, Christopher G. Atkeson, Siyuan Feng, and X Xinjilefu
    15th IEEE-RAS International Conference on Humanoid Robots (2015) (accepted)
    [PDF | VIDEO]

    Optimization based full body control for the Atlas robot
    Siyuan Feng, Eric Whitman, X Xinjilefu, and Christopher G. Atkeson
    14th IEEE-RAS International Conference on Humanoid Robots (2014)
    [PDF | BIB | VIDEO]

    Dynamic state estimation using quadratic programming
    X Xinjilefu, Siyuan Feng, and Christopher G. Atkeson
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2014)
    [PDF | BIB]

    Decoupled state estimation for humanoids using full-body dynamics
    X Xinjilefu, Siyuan Feng, Weiwei Huang, Christopher Atkeson
    IEEE International Conference on Robotics and Automation (ICRA) (2014)
    [PDF | BIB]

    3D walking based on online optimization (Best Paper Award)
    Siyuan Feng, X Xinjilefu, and Christopher G. Atkeson
    13th IEEE-RAS International Conference on Humanoid Robots (2013)
    [PDF | BIB | VIDEO]

    State estimation of a walking humanoid robot
    X Xinjilefu, and Christopher G. Atkeson
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2012)
    [PDF | BIB]

    Stabilization of the spatial double inverted pendulum using stochastic programming seen as a model of standing postural control
    X Xinjilefu, Vincent Hayward and Hannah Michalska
    9th IEEE-RAS International Conference on Humanoid Robots (2009)
    [PDF | BIB]





3d printing
3d printing