Yang Luo罗阳

Selected work

From the control stack
to the physical machine.

Annotated ROCOS interface showing a robot model, joint controls and motion settings

ROCOS

An open robot control system.

A modular control stack connecting robot applications, EtherCAT devices, and a visual programming interface.

Motion control · System integration · Open source

Explore ROCOS

TALON

Seven axes. Shared space.

A collaborative robot with joint torque sensing and ROCOS control, built to explore compliant motion and human–robot interaction.

With Yunxiang Jiang · Manufacturing: Landau Robotics

Meet TALON
TALON mechanical design, robot rendering and seven-axis kinematic diagrams
Four generations of servo driver electronics, from circular boards to modular designs

Compliant
servo drives

Where control meets hardware.

Four iterations of driver electronics for position tracking, compliant response, and collision detection.

With Chuanzhi Gao, You Wan & Yunxiang Jiang

Inside the driver

Research interests

Connecting algorithms,
machines, and people.

Motion & control

Servo and motion control, kinematics and dynamics, trajectory planning, and compliant motion control.

Robot control systems

Interaction & manipulation

Human–robot interaction, dexterous manipulation, and vision–force hybrid control.

Collaborative robotics

Learning & integration

Skill and imitation learning, robot system integration, and experimental applications.

Robot experimenter

Project archive

Hardware, software,
and the experiments between.

Inside ROCOS

From EtherCAT devices to a visual teach pendant.
Explore three connected components.

ROCOS component relationship: ECM connects to APP, which connects to VIZ.
Architecture schematic · Original component diagram

Connect the devices.

ROCOS-ECM is the EtherCAT master. It loads network topology from ENI files and provides access to bus data and servo drives.

It supplies the device-communication layer used by ROCOS-APP.

Explore ROCOS-ECM
ROCOS controller hardware
Controller hardware used by ROCOS.

Plan and control motion.

ROCOS-APP configures serial robots through URDF and provides robot motion, kinematics, and dynamics capabilities. Parallel mechanisms require custom algorithm modules.

Direct C++ and remote gRPC interfaces connect robot applications to the controller.

Explore ROCOS-APP
ROCOS software architecture and application interfaces
Software architecture and API layers.

See and teach motion.

ROCOS-VIZ is a visual teach pendant with remote connection, robot visualization, curve display, and jog teaching.

The interface connects to the robot-control layer. Recorded demonstrations are available on the project page.

Explore ROCOS-VIZ
ROCOS-VIZ interface showing the robot model and teaching controls
ROCOS-VIZ interface.
View project & experiments

Publications & patents

Methods, experiments, and results.
Explore the research behind the robots.

17 works

Newest first. Paper years follow the published volume; patent years follow the dates in the listed records.

  1. 2024 · Journal article

    Tool center point calibration via posture-sequence particle swarm optimization

    Gao Z, Li Y, Luo Y*, et al. IEEE Sensors Journal, 2024, 24(3): 3513-3522. (Corresponding author)

    Read paper
    BibTeX citation 
    @article{luo2024_5,
  title = {Tool Center Point Calibration via Posture-Sequence Particle Swarm Optimization},
  author = {Gao, Ziqi and Li, Yingli and Luo, Yang and Sun, Jincheng and Ying, Yuhan and Jiang, Yunxiang and Zhao, Xingang and Zhao, Yiwen},
  year = {2024},
  journal = {IEEE Sensors Journal},
  doi = {10.1109/jsen.2023.3344725},
  url = {https://doi.org/10.1109/jsen.2023.3344725},
  volume = {24},
  number = {3},
  pages = {3513--3522}
}

  2. 2024 · Patent

    一种遥操作机器人主从手比例映射因子设计方法

    赵忆文, 高子奇, 罗阳等. 2024-11-26, 中国, ZL202211409096.8 (发明专利)

    Original record link not yet verified.

  3. 2023 · Patent

    一种机器人末端移液装置及机器人移液控制方法

    赵忆文, 赵新刚, 高子奇, 姜运祥, 罗阳等. 2023-06-27, 中国, ZL202210538249.2 (发明专利)

    Original record link not yet verified.

  4. 2022 · Patent

    一种少自由度闭链空间机构运动解算方法

    赵忆文, 罗阳, 江超等. 2022-03-23, 中国, CN202210291939.2 (发明专利)

    Original record link not yet verified.

  5. 2022 · Patent

    一种模块化、高度可定制的机器人控制系统

    赵忆文, 罗阳等. 2022-9-19, 中国, CN202211137360.7 (发明专利)

    Original record link not yet verified.

  6. 2022 · Patent

    一种冗余参数自主规划的机械臂逆运动学解算方法

    赵忆文, 江超, 罗阳等. 2022-08-23, 中国, CN202211011429.1 (发明专利)

    Original record link not yet verified.

  7. 2022 · Patent

    一种适用于机器人控制的人机交互软件系统

    赵忆文, 罗阳等. 2022-10-13, 中国, CN202211253216.X (专利申请)

    Patent record

  8. 2022 · Patent

    一种用于无人实验室离心机的机器人自主作业控制方法

    赵忆文, 孙锦程, 魏仁松, 罗阳等. 2022-7-11, 中国, CN202210811113.4 (发明专利)

    Original record link not yet verified.

  9. 2022 · Patent

    一种超声检查机器人末端执行器

    赵忆文, 高子奇, 姜运祥, 罗阳等. 2022-11-21, 中国, CN202211452172.3 (发明专利)

    Original record link not yet verified.

  10. 2022 · Patent

    一种仿人手生理结构的线驱动手指

    赵忆文, 张元林, 姜运祥, 罗阳等. 2022-6-2, 中国, CN202210624184.3 (发明专利)

    Original record link not yet verified.

  11. 2021 · Journal article

    An intelligent graphene‐based biosensing device for cytokine storm syndrome biomarkers detection in human biofluids

    Hao Z, Luo Y, Huang C, et al. Small, 2021, 17(29): 2101508. (Co-first author)

    Read paper
    BibTeX citation 
    @article{luo2021_3,
  title = {An Intelligent Graphene‐Based Biosensing Device for Cytokine Storm Syndrome Biomarkers Detection in Human Biofluids},
  author = {Hao, Zhuang and Luo, Yang and Huang, Cong and Wang, Ziran and Song, Guoli and Pan, Yunlu and Zhao, Xuezeng and Liu, Shaoqin},
  year = {2021},
  journal = {Small},
  doi = {10.1002/smll.202101508},
  url = {https://doi.org/10.1002/smll.202101508},
  volume = {17},
  number = {29},
  pages = {2101508}
}

  12. 2020 · Journal article

    A novel camera calibration method based on multilevel-edge-fitting ellipse-shaped analytical model

    Su S, Luo Y, Yang K, et al. IEEE Sensors Journal, 2020, 20(11): 5818-5826.

    Read paper
    BibTeX citation 
    @article{luo2020_4,
  title = {A Novel Camera Calibration Method Based on Multilevel-Edge-Fitting Ellipse-Shaped Analytical Model},
  author = {Su, Shun and Luo, Yang and Yang, Keke and Gao, Zhenyuan and Zhao, Yiwen and Zhao, Xingang and Song, Guoli},
  year = {2020},
  journal = {IEEE Sensors Journal},
  doi = {10.1109/jsen.2020.2972615},
  url = {https://doi.org/10.1109/jsen.2020.2972615},
  volume = {20},
  number = {11},
  pages = {5818--5826}
}

  13. 2019 · Journal article

    A novel localization approach for underwater welding vehicles in spent fuel pools via attitude heading reference system and altimeters

    Luo Y, Tao J, Sun H, et al. International Journal of Advanced Robotic Systems, 2019, 16(2): 1-11.

    Read paper
    BibTeX citation 
    @article{luo2019_1,
  title = {A novel localization approach for underwater welding vehicles in spent fuel pools via attitude heading reference system and altimeters},
  author = {Luo, Yang and Tao, Jianguo and Sun, Hao and Hao, Zhuang and Li, Hao and Na, Qiang and Gao, Haibo and Ding, Liang and Deng, Zongquan},
  year = {2019},
  journal = {International Journal of Advanced Robotic Systems},
  doi = {10.1177/1729881419830540},
  url = {https://doi.org/10.1177/1729881419830540},
  volume = {16},
  number = {2},
  pages = {1--11}
}

  14. 2019 · Journal article

    Centroid variability model–based control of HITUWV for automatic underwater welding with enhanced stability and accuracy

    Luo Y, Tao J, Hao Z, et al. Advances in Mechanical Engineering, 2019, 11(11): 1-14.

    Read paper
    BibTeX citation 
    @article{luo2019_2,
  title = {Centroid variability model–based control of HITUWV for automatic underwater welding with enhanced stability and accuracy},
  author = {Luo, Yang and Tao, Jianguo and Hao, Zhuang and Sun, Hao and Li, Zhandong and Gao, Haibo and Ding, Liang and Deng, Zongquan},
  year = {2019},
  journal = {Advances in Mechanical Engineering},
  doi = {10.1177/1687814019890219},
  url = {https://doi.org/10.1177/1687814019890219},
  volume = {11},
  number = {11},
  pages = {1--14}
}

  15. 2018 · Conference paper

    A new underwater robot for crack welding in nuclear power plants

    Luo Y, Tao J, Sun Q, et al. 2018 IEEE international conference on robotics and biomimetics (ROBIO). IEEE, 2018: 77-82.

    Read paper
    BibTeX citation 
    @inproceedings{luo2018_8,
  title = {A New Underwater Robot for Crack Welding in Nuclear Power Plants},
  author = {Luo, Yang and Tao, Jianguo and Sun, Qingjie and Deng, Liping and Deng, Zongquan},
  year = {2018},
  booktitle = {2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  doi = {10.1109/robio.2018.8665279},
  url = {https://doi.org/10.1109/robio.2018.8665279},
  pages = {77--82}
}

  16. 2017 · Conference paper

    An accurate cavitation prediction thruster model based on Gaussian process regression

    Luo Y, Tao J, Li Z, et al. 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2017: 575-580.

    Read paper
    BibTeX citation 
    @inproceedings{luo2017_6,
  title = {An accurate cavitation prediction thruster model based on Gaussian process regression},
  author = {Luo, Yang and Tao, Jianguo and Li, Zhandong and Ding, Liang and Deng, Zongquan and Sun, Hao and Song, Xingguo},
  year = {2017},
  booktitle = {2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  doi = {10.1109/robio.2017.8324478},
  url = {https://doi.org/10.1109/robio.2017.8324478},
  pages = {575--580}
}

  17. 2017 · Conference paper

    A novel underwater localization algorithm fusing ahrs with altimeters

    Luo Y, Tao J, Li Z, et al. 2017 12th International Conference on Computer Science and Education (ICCSE). IEEE, 2017: 791-794.

    Read paper
    BibTeX citation 
    @inproceedings{luo2017_7,
  title = {A novel underwater localization algorithm fusing AHRS with altimeters},
  author = {Luo, Yang and Tao, Jianguo and Li, Zhandong and Ding, Liang and Deng, Zongquan and Zhao, Chenjian},
  year = {2017},
  booktitle = {2017 12th International Conference on Computer Science and Education (ICCSE)},
  doi = {10.1109/iccse.2017.8085602},
  url = {https://doi.org/10.1109/iccse.2017.8085602},
  pages = {791--794}
}
Yang Luo, robotics researcher

About me

I work at the intersection
of software and robotics.

I'm Yang Luo, a robotics researcher at the Shenyang Institute of Automation, Chinese Academy of Sciences. I received my Ph.D. in 2019 from the State Key Laboratory of Robotics and Systems at Harbin Institute of Technology.

I enjoy designing robot architectures, programming motion, and contributing to open-source tools. My work connects robot system integration, motion control, trajectory planning, human–robot interaction, and dexterous manipulation.

Let's talk robotics

Experience

Education

Tools of the work

I value well-designed software architectures, clear design patterns, and maintainable code.

Languages & build tools
C++ · Python · Java · Kotlin · HTML5 · JavaScript · CMake
Frameworks
ROS · Qt · Android · Electron
Tools
Linux · Git · Unity · Docker
People I work with10 collaborators

Let's build
something that moves.

Get in touch

Email

luoyang@sia.cnyluo@hit.edu.cn

Elsewhere

GitHub +86 186 8674 4086

Same number on WeChat

Based in Shenyang

Shenyang Institute of Automation, CAS
No. 114 Nanta Street
Shenyang, China
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