About Me
I am a robotics engineer at Beijing Innovation Center of Humanoid Robotics, where I develop advanced motion control algorithm for the Tien-Kung humanoid robot. I obtained my Ph.D. degree in Mechanical Engineering from the Beijing Institute of Technology (BIT) in 2025, under the supervision of Prof. Zhangguo Yu. I received my B.S. degree in Mechatronics Engineering from BIT in 2019, and completed my doctoral research in Prof. Qiang Huang Lab at Intelligent Robotics Institute. During my Ph.D., I was a core member deeply involved in the development of motion control algorithms for the BHR series of humanoid robots.
My research interests include:
- trajectory optimization;
- model predictive control;
- reinforcement learning.
Publications
- Xiang Meng, Zhangguo Yu, Xuechao Chen, Fei Meng, Qiang Huang, High-Frequency Control for Perturbation Rejection in Dynamic Biped Walking via Sequential Centroidal Model Predictive Control, IEEE/ASME Transactions on Mechatronics (T-Mech), 2025. (Accepted, SCI Top, IF: 7.3)
- Xiang Meng, Zhangguo Yu, Xuechao Chen, Zelin Huang, Fei Meng, Qiang Huang, Online Adaptive Motion Generation for Humanoid Locomotion on Non-Flat Terrain via Template Behavior Extension, IEEE Transactions on Automation and Science Engineering (T-ASE), 21(4): 6563-6574, 2023. (SCI Top, IF: 6.4, Presented in IEEE ICRA 2024)
- Xiang Meng, Zhangguo Yu, Tao Han, Xiaofeng Liu, Qingqing Li, Xuechao Chen, Fei Meng, Qiang Huang, Adaptive Disturbance Rejection Balance Control for Humanoid Robots via Variable-Inertia Centroidal MPC, Journal of Bionic Engineering, 2025. (Accepted, SCI, IF: 5.8)
- Xiang Meng, Zhangguo Yu, Xuechao Chen, Zelin Huang, Chencheng Dong, Fei Meng, Online Running-Gait Generation for Bipedal Robots with Smooth State Switching and Accurate Speed Tracking, Biomimetics, 8(1): 114, 2023. (SCI, IF: 4.5, Selected as Journal Title Story)
- Xiang Meng, et al. Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion, IFToMM World Congress 2023 on Mechanism and Machine Science, pp. 859-868, 2023. (EI, oral)
- Xiang Meng, Zhangguo Yu, Gao Huang, Xuechao Chen, Weijie Qi, Qiang Huang, Bo Su, Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model, 2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), pp. 174-179, 2019. (EI, oral)
Projects
- Mbot_Model&Control: An introductory tutorial for undergraduate and graduate students new to robotics, offering essential foundational knowledge. It covers key topics such as multi-axis robot modeling, Lagrangian-based multi-body dynamics, motor loop parameter tuning (current, velocity, and position), basic model-based control, trajectory planning, kinematics solvers, and numerical simulation with animation.
- MXSpatialDynLib: An ultra-lightweight and user-friendly robot dynamics library based on the spatial dynamics algorithm, which includes various matrix computation involving kinematics, dynamics, and centroidal dynamics, facilitating the researches of model-based motion control for legged robots.
- TrajOptim&MPC: A simple and practical tutorial of trajectory optimization (TO) and model predictive control (MPC) for legged robots and systems. This tutorial also serves as an important study material for the Spring 2024/2025 graduate course "Robot System Design and Application" at BIT.
- NLP_AnkTrajOptim4Upstairs: A nonlinear trajectory optimizer for ankle swing motion, designed to enable humanoid robots with rectangular or polygonal feet to climb stairs safely. The nonlinear programming (NLP) formulation focuses on collision-free swing trajectory generation and is solved using IPOPT.
- TO_Hopper: A TOWR-inspired continuous jumping motion optimization for a one-legged robot. With the direct collocation and the NLP solver fmincon of matlab, the trajectory optimizer can automatically optimize the position of the footholds, the swing trajectories of the foot, the contact forces and the motion trajectory of the floating-base by using the nonlinear hybrid dynamics and the phase-based end-effector constraints.
Internships
- 2023.08-2023.11, Qiyuan Lab, Beijing.
Services
- Conference Reviewer: RSS(2024), IROS(2025)
- Journal Reviewer: T-RO, T-ASE, RA-L, RAS, Advanced Robotics
Contact Me
- Email: bitmengxiang@gmail.com, 750996906@qq.com
- Google Scholar: Xiang Meng
- Github: mx0922
- ORCID: Xiang Meng