Hao Jiang

Research

I'm currently a PhD student at BDML working on gecko inspired adhesives and insect inspired micro-spines. Previous work has shown great shear adhesion performance of these technologies especially in climbing applications, and I'm interested in using them in opposed-grip configurations for grasping applications. Specifically I'm working on applying gecko adhesives to grasp and recycle space junk, as well as micro-spine technology to let UAVs perch on outdoor vertical surfaces for energy saving and better inspection view.

Stuff on grasping with gecko adhesives can be found here: AdhesiveGrasping

Stuff on perching with micro-spines can be found here: PerchingResearch

I also help a bit on the Robosimian rock climbing project: RobsimianClimbing

My first BDML project was to explore Gumstix controller for perching and flying UAVs: PerchingControllers

Publications

Jiang, H., Hawkes, E.W., Arutyunov, V., Tims, J., Fuller, C., King, J.P., Seubert, C., Chang, H.L., Parness, A., and Cutkosky, M.R., "Scaling Controllable Adhesives to Grapple Floating Objects in Space," IEEE/ICRA 2015.

Jiang, H., Pope, M.T., Estrada, M.A., Edwards, B., Cuson, M., Hawkes, E.W., Cutkosky, M.R., "Perching Failure Detection and Recovery with Onboard Sensing," IEEE/RSJ IROS 2015.

Jiang, H., Pope, M.T., Hawkes, E.W., Christensen, D.L., Estrada, M.A., Parlier, A., Tran, R., and Cutkosky, M.R., "Modeling the Dynamics of Perching with Opposed-Grip Mechanisms," IEEE/ICRA 2014.

Hawkes, E.W., Jiang, H., and Cutkosky, M.R. "Three-dimensional dynamic surface grasping with dry adhesives." International Journal of Robotics Research. Published online before print June 29, 2015 Doi: 10.1177/0278364915584645.

Hawkes, E.W., Christensen, D.L., Han, A.K., Jiang, H. and Cutkosky, M.R., "Grasping without Squeezing: Shear Adhesion Gripper with Fibrillar Thin Film," IEEE/ICRA 2015 Best Student Paper Award

Wu, X.A., Suresh, S.A., Jiang, H., Ulmen, J.V., Hawkes, E.W., Christensen, D.L., and Cutkosky, M.R. "Tactile Sensing for Gecko-Inspired Adhesion," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. IEEE/RSJ IROS 2015 Best Conference Paper Award

Thomas, J., Loianno, G., Pope, M.T., Hawkes, E.W., Estrada, M.A., Jiang, H., Cutkosky, M.R., and Kumar, V. (2015). "Planning and Control of Aggresive Maneuvers for Perching on Inclined and Vertical Surfaces," ASME International Design Engineering Technical Conferences, 2015

Hawkes, E.W., Christensen, D.L., Eason, E.V., Estrada, M.A., Heverly, M., Hilgemann, E., Jiang, H., Pope, M.T., Parness, A., and Cutkosky, M.R., "Dynamic Surface Grasping with Directional Adhesion," IEEE/RSJ IROS 2013.

Wang, S., Jiang, H., "Evaluating Pinch Quality of Underactuated Robotic Hands", CS229 Machine Learning Project Paper.

Email: jianghao@stanford.edu