Bio-inspired Rigid–Soft Interaction for Robust Picking Underwater
Ocean Engineering, 346: 123774, 2026
Xudong Han 韩旭东
I am a Ph.D. student at SUSTech, advised by Fang Wan and Chaoyang Song. I received my B.E. in Mechanical Engineering from SUSTech in 2022 and spent time at AncoraSpring in 2025.
My research spans robotic perception and learning, from dexterous manipulation and humanoid whole-body control to tactile sensing and vision-based deformation perception in soft robots. I aim to develop adaptive robots that perceive, understand, and interact with the physical world through vision, touch, and motion.
News
Publications
# Equal contribution · * Corresponding author
Lessons Learned from the euROBIN Manipulation Skill Versatility Challenge at IROS 2024
IEEE Robotics and Automation Practice, 2025
Anchoring Morphological Representations Unlocks Latent Proprioception in Soft Robots
Advanced Intelligent Systems, 2500444, 2025
Proprioceptive State Estimation for Amphibious Tactile Sensing
IEEE Transactions on Robotics, 40: 4684-4698, 2024
On Flange-Based 3D Hand-Eye Calibration for Soft Robotic Tactile Welding
Measurement, 238: 115376, 2024
Proprioceptive Learning with Soft Polyhedral Networks
The International Journal of Robotics Research, 43(12): 1916-1935, 2024
Vision-based Tactile Intelligence with Soft Robotic Metamaterial
Materials & Design, 238: 112629, 2024
Bio-inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception
Biomimetics, 8(6):501, 2023
Rigid–Soft Interactive Design of a Lobster-Inspired Finger Surface for Enhanced Grasping Underwater
Frontiers in Robotics and AI, 8:787187, 2021
Learning-based Optoelectronically Innervated Tactile Finger for Rigid-Soft Interactive Grasping
IEEE Robotics and Automation Letters, 6(2):3817-3824, 2021
Projects
AI for Industry Challenge (asMagicForce)
Vision- and force-guided robotic cable manipulation and insertion. Our team ranked 9th in the qualification phase.
asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics
A humanoid ballbot with reinforcement-learned locomotion transferred from simulation to hardware.
MagiClaw: Towards Universal Action Embodiment
An open-source soft gripper for transferring human demonstrations to robotic manipulation.
euROBIN Manipulation Skill Versatility Challenge
A reusable robot skill system for the IROS 2024 task board challenge, awarded the Fastest Task Board Solution.