Dynamics and control
Model-based control, MPC, state-space methods, and actuator-aware robot dynamics.
Research portfolio
Robot dynamics, control,
and learning.
I am an undergraduate researcher working on robot dynamics, control, and learning. My work spans model predictive control, closed-loop manipulation, reinforcement-learning locomotion, physics-based simulation of flexible robots, and ROS 2 navigation and control systems. I care about explicit assumptions, reproducible experiments, and the gap between methods that work in simulation and systems that work on hardware.
Focus
Research interests
Robot learning and autonomy
Learned dynamics, reinforcement learning, predictive planning, perception, and sim-to-real evaluation.
Physical interaction and modeling
Manipulation, contact mechanics, flexible robots, and physics-based numerical simulation.
Work
Research & Engineering Projects
Activation-Aligned Residual MPC for Robot Manipulators
An actuator-aware residual MPC system evaluated in ABB and UR5e MuJoCo simulations and, under a separate hardware protocol, on SO-ARM101.
Closed-Loop Visual Tracking and Robotic Grasping
A Piper eye-in-hand RGB-D manipulation system that connects semantic perception to planning and grasp execution, with a controlled study of target-pose commitment.
Guidewire Dynamics & Vascular Contact Modeling
A 3D discrete-elastic-rod simulator with analytic and mesh vessel contact, a verified C++/Eigen mechanics backend, and a planar Coulomb-friction guidewire-insertion benchmark.
STOL UAV Design & Flight Testing – National First Prize, CUADC
A 770 mm-span, 905 g aircraft that carried a 2.845 kg competition payload and completed a 2.4 m short takeoff.
Energy-Efficient Bipedal Locomotion
Independent 2D simulation development, 3D PPO training in the lab’s framework, human–robot gait analysis, and cross-platform evaluation for LIMX TRON 1A.
RoboMaster Wheel-Legged Robot – Dynamics & Control
RoboMaster KongFu Team, GTIIT · Electrical Control Group
Electrical-control and control-algorithm development in KongFu Team, with selected work on wheel-legged dynamics, five-bar VMC, gain-scheduled LQR, and nonlinear MATLAB/C validation.
Mobile Robot Navigation & Control
Studied predictive occupancy in an omnidirectional navigation testbed, connecting kinodynamic guidance, MPPI, controlled evaluation, and embedded motion control.
Experience
Research experience
Jul. – Dec. 2025
Research Assistant – Energy-Efficient Bipedal Locomotion
Prof. Mingyi Liu
Trained PPO locomotion policies for the LIMX TRON 1A in Isaac Gym and analyzed gait cycles, mechanical cost of transport, and cross-simulator behavior.
Apr. 2026 – Aug. 2026
Research Assistant – Guidewire Dynamics & Vascular Contact Modeling
Prof. Zhujiang Wang
Co-developed a three-dimensional discrete elastic rod simulator with implicit Euler and Newton solves, analytic and mesh contact, and a C++/Eigen backend.
Sep. 2026 – Present
Research Assistant – Mobile Robot Navigation & Control
Prof. Mingyi Liu
Built a ROS 2/Gazebo navigation testbed integrating kinodynamic local guidance, predictive occupancy, reproducible simulation evaluation, and embedded motion-control firmware.
Writing
Manuscripts
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Under Review · IEEE ROBIO 2026
Activation-Aligned Asynchronous Residual MPC for Position-Controlled Manipulators with Learned Dynamics
Xinlei Lin, Chenyu Lin, Yue Zhang
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Under Review · IEEE EPIC 2026
Stability-Gated Closed-Loop Eye-in-Hand Tracking and Grasping of a Manually Moved Target
Yue Zhang and Xinlei Lin
Personal
Outside the lab
Photography is one of the ways I slow down and pay attention to places, light, and everyday details.
Toolkit
Tools I work with
Programming Python · C/C++ · MATLAB
Robotics ROS 2 · Nav2 · MoveIt 2 · Gazebo · MuJoCo · Isaac Gym
Control & Learning MPC · MPPI · LQR · VMC · PPO · PyTorch
Numerical & Systems Eigen · NumPy · CMake · Git · Linux
Embedded & Design STM32 · FreeRTOS · SolidWorks
Contact
Let's talk robotics.
I am happy to discuss research, engineering work, or graduate study opportunities.
lin24872@gtiit.edu.cn