About Me

I am a Ph.D. student specializing in Humanoid Robotics and Motor Control, dedicated to applying advanced control theory to robotic systems. My research interests include model-based and learning-based locomotion control for humanoid robots, parameter identification, state estimation, and motor drives. I aspire to contribute to the advancement of robotics technology.

I am currently pursuing my Ph.D. at the School of Engineering Science / Institute of Humanoid Robotics, University of Science and Technology of China (USTC), supervised by Prof. Shiwu Zhang and Dr. Wei Gao. I received my Bachelor’s and Master’s degrees from the School of Automation, Hefei University of Technology (HFUT).

I have published several academic papers (including co-authored works), which are listed below.

Research Interests:

• Humanoid Robotics
• Joint Motor Control
• Control Theory & Control Engineering
• Reinforcement Learning
• Parameter Identification & State Estimation
• Linear Motor Drive

🎓 Education

• 2023.09 - Present University of Science and Technology of China (USTC), Hefei, China Ph.D. Student

• 2019.09 - 2022.06 Hefei University of Technology (HFUT), Hefei, China Master of Engineering (Control Science and Engineering)

• 2015.09 - 2019.07 Hefei University of Technology (HFUT), Hefei, China Bachelor of Engineering (Automation)

📝 Publications & Patents

Chinese Papers

CSEE

• Xiaohu Zhang, Jiwen Zhao et al. “High Precision Anti-Disturbance Online Multi-Parameter Identification for Permanent Magnet Synchronous Linear Motor Based on Adaptive Interconnected Extended Kalman Observer,” Proceedings of the CSEE, 2022, 42(12): 4571-4581. (Annual Excellent Paper of CSEE (TOP 5%), High Impact Paper of CNKI, EI)

English Papers

IROS 2024

• H. Zhang#, X. Zhang#, J. Cheng, J. Hu, C. Ji, Y. Wang, Y. Jiang, Z. Han, W. Gao* and S. Zhang* “Torque Ripple Reduction in Quasi-Direct Drive Motors Through Angle-Based Repetitive Learning Observer and Model Predictive Torque Controller,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (Top Robotics Conference, EI) [Web]

LDIA 2021

• X. Zhang, J. Zhao et al. “Joint Kalman Observer for Mechanical Multi-parameter Decoupling Estimation of Permanent Magnet Synchronous Linear Motor,” 2021 13th International Symposium on Linear Drives for Industry Applications (LDIA). (EI) [Web]

IEEE Conf.

• X. Wang, Y. Zhu, X. Zhang et al. “A Telepresence Enhancing Method Based on Human Arm Dynamics,” 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2024. (EI) [Web] Responsible for hardware system design; learned and completed PCB design for STM32 and ESP32.

IEEE Trans. Ind. Informat. 2020

• Song Juncai, Zhao Jiwen, X. Zhang et al. “Accurate Demagnetization Faults Detection of Dual-Sided Permanent Magnet Linear Motor Using Enveloping and Time-Domain Energy Analysis,” IEEE Transactions on Industrial Informatics, 2020, 16(12). (CAS Top, IF: 11.648)

IEEE Trans. Power Electron. 2022

• L. Wang, J. Zhao, X. Yang, Z. Zheng, X. Zhang, L. Wang “Robust Deadbeat Predictive Current Regulation for Permanent Magnet Synchronous Linear Motor Drivers With Parallel Parameter Disturbance and Load Observer,” IEEE Transactions on Power Electronics, 2022. (CAS Top, IF: 5.967) [Web]

IEEE Trans. Instrum. Meas. 2022

• D. Hu, J. Zhao, X. Yang, X. Zhang “Precision Motion Measurement for Linear Motor Based on FNCC and Phase Difference M-Estimator Robust Regression in a VLSM System,” IEEE Transactions on Instrumentation and Measurement, 2022. (SCI, IF: 5.332) [Web]

Projects

Full-size Humanoid Robot 2024

• Xiaohu Zhang, both, pocket et al. “MPC+WBC based Motion Control for Full-size Humanoid Robot.” Full participation in mechanical iteration optimization, electrical system design, lower-level communication interface, and traditional control algorithm optimization. 2024-Present.

• To be updated

Patents

• [P03] Locomotion Control Method for Legged Robots Wei Gao, Zhen Han, Yutong Jiang, Yongming Yue, Xiaohu Zhang, Yu Wang, Shiwu Zhang. Invention Patent, CN202411919748.1, Authorized: 2025-01-24, Applied: 2024-12-25.
• [P02] Torque Ripple Suppression Method for Quasi-Direct Drive Motors in Robot Joints Shiwu Zhang, Xiaohu Zhang, Hefei Zhang, Wei Gao. Invention Patent, CN202410747271.7, Under Review, Applied: 2024-06-11.
• [P01] Force Feedback Method and Device for Teleoperation System Based on Vibration Induction Shiwu Zhang, Yuewei Zhu, Tengda Wang, Wei Gao, Xiaohu Zhang, Yuanzhe Xie. Invention Patent, ZL202410471429.2, Authorized: 2024-07-12, Applied: 2024-04-19.

🏅 Honors and Awards

• 2025 Gold Medal, Anhui Province College Students Innovation Competition
• 2023 Annual Excellent Paper of CSEE
• 2023 - Present Scholarship, University of Science and Technology of China
• 2022 First Class Scholarship, Hefei University of Technology
• 2018 Second Prize, National University Intelligent Transportation Innovation and Entrepreneurship Competition
• Other awards to be updated

🏛️ Academic Conferences

• Hangzhou, China Attended IROS 2025
• Abu Dhabi, UAE Attended IROS 2024 and gave an Oral presentation
• Wuhan, China Attended LDIA 2021 and presented a Poster
• Hefei, China Attended World Manufacturing Convention (2019, 2023, 2024)
• Shenyang, China Attended China Robot Science Conference (CCRS 2019)

💻 Internships

• 2025.09 Humanoid Robotics Company, Intern, Wuhu, Anhui
• 2022 - 2023 Research Intern, Institute of Advanced Technology, USTC, Hefei, Anhui
• Other internships to be updated