Publications — Hung Hon Cheng (Paul)

★ 1st author First author ★ co-1st Co-first author (equal contribution)

2026

T-ASE★ 1st author
Vision-Guided Agricultural Tasks with Diffusion-Based Motion Learning Using a Human-Robot Collaborative System

HH Cheng, C Pan, A Desogus, Q Guan, L Sutter, J Hughes

(final review, minor revision), 2026
IROS★ co-1st
Multi-Task, Multi-Arm Robotics System for Hydroponic Crop Production

G Meyer*, HH Cheng*, J Hughes (*equal contribution)

(under review)
MMT Symp.★ 1st author
Cable Anchor Sensitivity Analysis for Reconfigurable Cable Robots

HH Cheng, J Hughes

Mechanism and Machine Theory Symposium, 2026

proof

2025

T-mech★ 1st author
8-DoFs Cable Driven Parallel Robots for Bimanual Teleoperation

HH Cheng, J Hughes

IEEE/ASME Transactions on Mechatronics, 2025
npj robotics★ 1st author
Enhancing Bimanual Teleoperation with Variable Shoulder Distance: Manipulation in Varying-Scale of Applications

HH Cheng, J Hughes

npj Robotics, 2025
ICRA★ 1st author
CAFEs: Cable-driven Collaborative Floating End-Effectors for Agriculture Applications

HH Cheng, J Hughes

IEEE International Conference on Robotics and Automation (ICRA), 2025
CableCon★ 1st author
Determining Feasible Cable Attachment Locations for Cable-Driven Parallel Robots

HH Cheng, D Lau, J Hughes

Cable-Driven Parallel Robots (CableCon), 2025
Sci. Adv.
Lattice Structure Musculoskeletal Robots: Harnessing Programmable Geometric Topology and Anisotropy

Q Guan, B Dai, HH Cheng, J Hughes

Science Advances, 2025
IROS★ co-1st
Control the Soft Robot Arm with its Physical Twin

Q Guan*, HH Cheng*, B Dai, J Hughes (*equal contribution)

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
IROS★ co-1st
Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation

C Pan*, HH Cheng*, J Hughes (*equal contribution)

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
ICRA★ co-1st
Dexterous Three-Finger Gripper based on Offset Trimmed Helicoids (OTHs)

Q Guan*, HH Cheng*, B Dai, J Hughes (*equal contribution)

IEEE International Conference on Robotics and Automation (ICRA), 2025

2023

T-RO★ 1st author
Cable Attachment Optimization for Reconfigurable Cable-Driven Parallel Robots Based on Various Workspace Conditions

HH Cheng, D Lau

IEEE Transactions on Robotics, 39(5), 3759-3775, 2023

2022

MMT★ 1st author
Ray-based Cable and Obstacle Interference-Free Workspace for Cable-Driven Parallel Robots

HH Cheng, D Lau

Mechanism and Machine Theory, 172, 104782, 2022

2019 - 2018

RA-L★ co-1st
Efficient Wrench-Closure and Interference-Free Conditions Verification for Cable-Driven Parallel Robot Trajectories Using a Ray-Based Method

Z Zhang*, HH Cheng*, D Lau (*equal contribution)

IEEE Robotics and Automation Letters, 5(1), 8-15, 2019
conference
CU-brick: Cable-Driven Robot for Automated Construction of Complex Brick Structures - From Simulation to Hardware Realisation

Y Wu, HH Cheng, A Fingrut, K Crolla, Y Yam, D Lau

IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, 2018
conference
Inflatable Architecture Production with Cable-Driven Robots

K Crolla, P Cheng, D Chan, A Chan, D Lau

Proceedings of the 23rd CAADRIA Conference, 2018