About 🧑💻
I am Lu Zhuoyi, an undergraduate at Nanyang Technological University (NTU), Singapore, pursuing a B.Eng. in Mechanical Engineering (Robotics & Mechatronics). I maintain a CGPA of 4.64/5.00 and received the Dean’s List in AY2023/24 and AY2024/25 (Top 5%).
My research centers on
More details can be found in my resume .
News 📰
- IROS 2025
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A Planning Framework for Stable Robust Multi-Contact Manipulation has been accepted for presentation at IROS 2025 in Hangzhou, China.
- Summer Research Internship
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Completed summer research internship at Rice University's Robot-Pi Lab under Prof. Kaiyu Hang, working on XLeRobot mobile manipulator development and Sim2Real reinforcement learning.
- Dean's List Recognition
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Achieved Dean's List certificates for both AY2023/24 and AY2024/25, maintaining top 5% academic performance at NTU.
Projects 🦾
- Multi-Contact Manipulation Planning Framework
- IROS 2025 paper on stable, robust multi-contact manipulation
- Built dual-arm + 7DOF Kinova setup for peg-in-hole tasks
- Motion Planning based on Manipulation Potential under Quasi-Static Assumption.
- Trajectory/DMP Optimization based on Black-Box Optimization (BBO) with interaction-aware cost functions.
- XLeRobot Mobile Manipulator Development
- Develop the codebase (e.g., Keyboard, XBOX joystick and VR Teleoperation Control) for XLeRobot: Fully Autonomous Household Dual-Arm Mobile Robot for $660.
- Derive Kinematics (FK, IK) for 5-DOF LeRobot SO101 Arm
- Work on PPO-based object grasping with RGB/segmentation inputs. Model trained in ManiSkill
- Quadruped Jumping Control & Compliance Strategy
- Developed impedance-based compliance control for quadruped jumping on Unitree Go2
- Derived leg kinematics and dynamics by treating each leg as 3DOF linkage and modelled by virtual spring–damper system
- Validated forward/backward and turning jumps in Gazebo, Mujoco, and in the real world
- HEBI dual-arm testbed
- Modeled series-elastic actuators and estimated motor constants (Kt, Kv) with electromechanical model.
- Built dual-arm setups; implemented teleoperation-based impedance control
- Derived kinematics/Jacobians to inform control and performance
- URECA Research: Frontal Photopolymerization
- Developed new frontal photopolymerization strategy for functionally-graded materials
- Based on UV attenuation principles under Prof. K Jimmy Hsia
- Published in URECA Papers and Posters
Publications 📰
Conference Papers
Experience 🧗
Education
- Bachelor of Mechanical Engineering
- Robotics and Mechatronics Stream
- CGPA: 4.64/5.00, Top 5% First Class Honor
- Minor in Mathematics
- Dean's List Certificate AY2023/24 & AY2024/25
- International Baccalaureate Diploma Program (IBDP)
- Score: 41/45
Research Experience
- Undergraduate Research Assistant
- Advisor: Prof. Domenico Campolo
- Summer Research Intern
- Advisor: Prof. Kaiyu Hang
- Mobile Intelligence Intern
- Advisor: Dr. Caixia Cai (Senior Robotics Scientist) and Mr. Vikash Jeyathevan (Engineer)
- Undergraduate Research Assistant
- Advisor: Prof. K Jimmy Hsia
Life 🏔️🧗🏂🛹🏜️🗽⛹️🚀
We bring robots to life, but life is more than robots.
Extracurricular Activities
- Xinyuan Charity Center | Guangdong, China | Aug 2020 - Aug 2021
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- Organized drawing lessons for autistic children to help them adapt to school and build social relationships
- Residential Hall Garden Leader | NTU Singapore | Aug 2023 - Present
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- Led weekly gardening activities, including seed germination, watering, and tool maintenance
Honors and Awards
- Dean's List Certificate AY2023/24 (Top 5%), Mechanical Engineering, NTU Singapore
- Dean's List Certificate AY2024/25 (Top 5%), Mechanical Engineering, NTU Singapore
- URECA Undergraduate Research Program 2023/2024 Certificate
