publications

2025

1. T-mech

   8-DoFs Cable Driven Parallel Robots for Bimanual Teleoperation

   Hung Hon Cheng and Josie Hughes

   IEEE/ASME Transactions on Mechatronics, 2025

   DOI Bib

   @article{cheng2025tmech,
     title = {8-DoFs Cable Driven Parallel Robots for Bimanual Teleoperation},
     author = {Cheng, Hung Hon and Hughes, Josie},
     journal = {IEEE/ASME Transactions on Mechatronics},
     doi = {10.1109/TMECH.2025.3610192},
     url = {https://doi.org/10.1109/TMECH.2025.3610192},
     year = {2025},
   }

2. npj robotics

   Enhancing Bimanual Teleoperation with Variable Shoulder Distance: Manipulation in Varying-Scale of Applications

   Hung Hon Cheng and Josie Hughes

   npj Robotics, 2025

   DOI Bib

   @article{cheng2025npj,
     title = {Enhancing Bimanual Teleoperation with Variable Shoulder Distance: Manipulation in Varying-Scale of Applications},
     author = {Cheng, Hung Hon and Hughes, Josie},
     journal = {npj Robotics},
     doi = {10.1038/s44182-025-00057-w},
     url = {https://doi.org/10.1038/s44182-025-00057-w},
     year = {2025},
   }

3. ICRA

   CAFEs: Cable-driven Collaborative Floating End-Effectors for Agriculture Applications

   Hung Hon Cheng and Josie Hughes

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

   DOI Bib

   @inproceedings{cheng2025cafes,
     title = {{CAFEs}: Cable-driven Collaborative Floating End-Effectors for Agriculture Applications},
     author = {Cheng, Hung Hon and Hughes, Josie},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     doi = {10.1109/ICRA55743.2025.11127592},
     url = {https://doi.org/10.1109/ICRA55743.2025.11127592},
     year = {2025},
   }

4. Sci. Adv.

   Lattice Structure Musculoskeletal Robots: Harnessing Programmable Geometric Topology and Anisotropy

   Qinghua Guan, Bo Dai, Hung Hon Cheng, and 1 more author

   Science Advances, 2025

   DOI Bib

   @article{guan2025science,
     title = {Lattice Structure Musculoskeletal Robots: Harnessing Programmable Geometric Topology and Anisotropy},
     author = {Guan, Qinghua and Dai, Bo and Cheng, Hung Hon and Hughes, Josie},
     journal = {Science Advances},
     doi = {10.1126/sciadv.adu9856},
     url = {https://doi.org/10.1126/sciadv.adu9856},
     year = {2025},
   }

5. IROS

   Control the Soft Robot Arm with its Physical Twin

   Qinghua Guan, Hung Hon Cheng, Bo Dai, and 1 more author

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

   DOI Bib

   @inproceedings{guan2025iros_soft,
     title = {Control the Soft Robot Arm with its Physical Twin},
     author = {Guan, Qinghua and Cheng, Hung Hon and Dai, Bo and Hughes, Josie},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     doi = {10.1109/IROS60139.2025.11246354},
     url = {https://doi.org/10.1109/IROS60139.2025.11246354},
     year = {2025},
   }

6. CableCon

   Determining Feasible Cable Attachment Locations for Cable-Driven Parallel Robots

   Hung Hon Cheng, Darwin Lau, and Josie Hughes

   In Cable-Driven Parallel Robots (CableCon), 2025

   DOI Bib

   @inproceedings{cheng2025cablecon,
     title = {Determining Feasible Cable Attachment Locations for Cable-Driven Parallel Robots},
     author = {Cheng, Hung Hon and Lau, Darwin and Hughes, Josie},
     booktitle = {Cable-Driven Parallel Robots (CableCon)},
     doi = {10.1007/978-3-031-94608-0_21},
     url = {https://doi.org/10.1007/978-3-031-94608-0_21},
     year = {2025},
   }

7. IROS

   Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation

   Cheng Pan, Hung Hon Cheng, and Josie Hughes

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

   DOI Bib

   @inproceedings{pan2025iros,
     title = {Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation},
     author = {Pan, Cheng and Cheng, Hung Hon and Hughes, Josie},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     doi = {10.1109/IROS60139.2025.11246547},
     url = {https://doi.org/10.1109/IROS60139.2025.11246547},
     year = {2025},
   }

8. ICRA

   Dexterous Three-Finger Gripper based on Offset Trimmed Helicoids (OTHs)

   Qinghua Guan, Hung Hon Cheng, and Josie Hughes

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

   DOI Bib

   @inproceedings{guan2025icra_gripper,
     title = {Dexterous Three-Finger Gripper based on Offset Trimmed Helicoids ({OTHs})},
     author = {Guan, Qinghua and Cheng, Hung Hon and Hughes, Josie},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     doi = {10.1109/ICRA55743.2025.11128534},
     url = {https://doi.org/10.1109/ICRA55743.2025.11128534},
     year = {2025},
   }

2023

1. T-RO

   Cable Attachment Optimization for Reconfigurable Cable-Driven Parallel Robots Based on Various Workspace Conditions

   Hung Hon Cheng and Darwin Lau

   IEEE Transactions on Robotics, 2023

   DOI Bib

   @article{cheng2023tro,
     title = {Cable Attachment Optimization for Reconfigurable Cable-Driven Parallel Robots Based on Various Workspace Conditions},
     author = {Cheng, Hung Hon and Lau, Darwin},
     journal = {IEEE Transactions on Robotics},
     volume = {39},
     number = {5},
     pages = {3759--3775},
     doi = {10.1109/TRO.2023.3288838},
     url = {https://doi.org/10.1109/TRO.2023.3288838},
     year = {2023},
   }

2022

1. MMT

   Ray-based Cable and Obstacle Interference-Free Workspace for Cable-Driven Parallel Robots

   Hung Hon Cheng and Darwin Lau

   Mechanism and Machine Theory, 2022

   DOI Bib

   @article{cheng2022mmt,
     title = {Ray-based Cable and Obstacle Interference-Free Workspace for Cable-Driven Parallel Robots},
     author = {Cheng, Hung Hon and Lau, Darwin},
     journal = {Mechanism and Machine Theory},
     volume = {172},
     pages = {104782},
     doi = {10.1016/j.mechmachtheory.2022.104782},
     url = {https://doi.org/10.1016/j.mechmachtheory.2022.104782},
     year = {2022},
   }

2019

1. RA-L

   Efficient Wrench-Closure and Interference-Free Conditions Verification for Cable-Driven Parallel Robot Trajectories Using a Ray-Based Method

   Zhaokun Zhang, Hung Hon Cheng, and Darwin Lau

   IEEE Robotics and Automation Letters, 2019

   DOI Bib

   @article{zhang2019ral,
     title = {Efficient Wrench-Closure and Interference-Free Conditions Verification for Cable-Driven Parallel Robot Trajectories Using a Ray-Based Method},
     author = {Zhang, Zhaokun and Cheng, Hung Hon and Lau, Darwin},
     journal = {IEEE Robotics and Automation Letters},
     volume = {5},
     number = {1},
     pages = {8--15},
     doi = {10.1109/LRA.2019.2942203},
     url = {https://doi.org/10.1109/LRA.2019.2942203},
     year = {2019},
   }