Wenlong Zhang

Unified Frenet Frame Motion Planning Based Framework for Social Navigation

Improving autonomous vehicle and human interaction using game theory, Monte Carlo Tree Search, value alignment and predictive planning for decision-making.

Program: MORE

Real-Time Force and Moment Feedback of a Hexarotor Drone

Modeling the force and torque of hexarotor drones will help assist aerial manipulators in interaction tasks.

Program: FURI

Surface Effects Mapping of a Multirotor in Close Proximity to the Ground, Ceiling, and Walls

Modeling surface effects will help users of unmanned aerial vehicles to plan energy-efficient paths while minimizing collision risks.

Program: MORE

Social Navigation for Autonomous Vehicles

The development of a motion planner that optimizes collision aversion will prioritize safety in autonomous vehicles.

Program: FURI

Design, Optimization and Control of a Soft Pneumatic Actuator

Design optimization and control of a soft actuator help in gaining a deeper understanding of soft robots’ nature for wearable technology.

Program: MORE

Robot Intent Signaling Using Augmented Reality

Robot intent signaling with AR helps humans understand a robot's intent to ensure the successful completion of complex tasks.

Program: MORE

A Soft Drone for Whole Body Perching

Using bistable material along with fabric-based actuators will help get faster actuation and further improve success rates for perching in soft drones.

Program: FURI

Contact-Based Navigation and SLAM Using Collision-Resilient UAVs

Developing a navigation algorithm for collision-resilient quadcopters will help them traverse caves, mines or earthquake rubble where cameras fail.

Program: MORE

Open-Source Cost-Effective 3D-Printed Anthropomorphic Neuroprosthetics

Creating an open-source, muscle-machine interface module that is cost effective could help people with amputations have their own custom attachable bionic arm.

Program: GCSP research stipend

Object Detection and Tracking for a Pursuit-Evasion Scenarios

Custom object detection and object tracking for drones will help identify, track, and intercept moving targets.

Program: FURI

Modeling Deviation in Bending Direction of a Soft Arm Manipulator Using Regressive Neural Networks

A model for deviation in bending direction will help create accurate controllers for soft robots, enabling their use in real-world applications.

Program: MORE

Virtual Testing Environment for Flexible Drone Flight Simulation and Design Analysis

Simulators for foldable drones will decrease the time and effort spent on software validation and help fast-track deployment.

Program: FURI

A Soft Drone for Whole Body Perching

Designing a soft drone with a full-body perching mechanism will allow for energy harvesting while resting and increase the operation time.

Program: FURI

Extended Kalman Filter Based Sensor Fusion for State Estimation of a Soft Robot Arm

Exploring the use of soft robot sensors and state estimation algorithms will allow soft robots to be used outside of a lab in any environment.

Program: MORE

Designing an Affordable Torsional Spring for a Rotary Series Elastic Actuator

Designing a more adjustable and tunable torsional spring may allow for more rapid development of a wearable rehabilitative knee exoskeleton.

Program: FURI

Designing an Affordable Torsional Spring for a Rotary Series Elastic Actuator

Designing a more adjustable and tunable torsional spring may allow for more rapid development of a wearable rehabilitative knee exoskeleton.

Program: FURI

Evaluating How Empathy Optimizes Transparency and Trust in pHRI

Incorporating robots with empathy will help build human trust and optimize the transparency in collaboration with the robot.

Program: MORE

Autonomous Online PID Tuning Algorithm and Implementation on a Knee Exoskeleton

Designing an autonomous online tuning method to optimize torque tracking ability will improve a wearable rehabilitative knee exoskeleton.

Program: FURI

Environmental Perception Based Human Intent Inference in Autonomous Cars

Creating a new model of human driving that considers the context of the environment will create safer human-robot driving interactions.

Program: FURI

Sensing and Controls of an Assistive Knee Exoskeleton

Assistive exoskeletons are an increasingly valuable rehabilitation tool for patients with neurological damage. This project implements an advanced sensor system and control scheme on a portable, low-cost knee exoskeleton.

Program: MORE

Is Artificial Intelligence a Burden in a Changing Environment

Designing a virtual environment that changes upon each usage will help develop artificial intelligence that learns with less time and data.

Program: FURI

Gait Sensing using Fabric based Soft Inflatable Actuators and Force Haptic Feedback

Using gait sensing and force haptic feedback in shoe insoles will help provide better rehabilitation.

Program: MORE

A Probabilistic and Confidence-Driven Approach to Theory of Mind Models in Autonomous Agents

Creating a more accurate human prediction model in self-driving cars will account for the uncertainty in human actions.

Program: FURI

Bicycle Rider Pose Estimation from Physical Human-Robot Interaction Forces

Designing a system to collect and analyze data about how people ride bicycles will help make this activity more accessible through balance and steering assistance.

Program: MORE

Experimental Analysis on the Effect of Human Learning on Physical Human-robot Interaction

Studying human behavior in collaborative tasks will help develop robots that effectively and intelligently work with humans.

Program: MORE

Towards Portability of Pneumatic Wearable Devices using Low-Volume Inflatable Actuator Composites and a Portable Pneumatic Source

Making a soft inflatable exosuit for knee rehabilitation reduces energy cost of actuation and is portable.

Program: MORE

Role Adaptation in Robots for Effective Physical Human-Robot Interaction

Designing effective communications between human and rehabilitative robotic devices will improve safety and effectiveness of the interactions.

Program: MORE

Assistive Walking Device for Gait Disorder Patients

Designing a device that will provide an assistive force to the heel will help patients with gait disorders.

Program: FURI

Development of an OpenSim Simulation to Identify Time and Force Magnitude Needed at Toe-Off Stage for an Assistive Force Ankle Device

Finding the ideal time and force magnitude for an assistive ankle device will help people with gait disorders gain better gait patterns.

Program: FURI

Balancing of a Stationary Bicycle Using a Control Moment Gyroscope

Using a gyroscope to create a non-anchored force will assist patients with balance impairments to regain balance.

Program: FURI

Detection of Heel-Off Initiation Based Correlation Between Ground Reaction Forces and Lower Extremity Surface Electromyography

Identifying the proper application of an assistive force will help effectively restore toe-off gait in individuals with gait disorders.

Program: FURI

Smart Bike Human-in-the-Loop Control

Designing sensor systems for a self-balancing bicycle will provide assistance to riders with impairments or disability.

Program: FURI

Smart Bike Human-in-the-Loop Control

Program: FURI

Organized Multi-Robot Movement with Application to Autonomous Cars

Program: FURI

Assistive Walking Device for Gait Disorder Patients

Program: FURI

Virtual Reality (VR) for Rehabilitation Therapy of Stroke Parkinson’s Disease and Athlete Patients

Program: FURI

Aerodynamic Propeller Modelling

Program: FURI

ASU Rise Lab’s Self Balancing Bicycle

Program: GCSP research stipend

Cost-Effective Surveying Using Multiple Unmanned Aerial Vehicles

Program: KEEN

Design of Compact Lower Limb Exoskeleton for Gait Assistance

Program: MORE

Algorithms for Learning, Cooperation and Coordination of Multi Agent Systems in the Presence of Uncertainties

Program: MORE