I received the M.S. degree from the University of Tsukuba in 2019. Now, I am a Ph.D. student at the University of Tsukuba and the laboratory CNRS-AIST Joint Robotics Laboratory (JRL) in AIST, Japan.

My research interests include robot control, motion planning, manipulation planning, task planning, behavior prediction and optimal decision-making, which involve robotics and AI, and make robots more autonomous. I hope to be able to use robots to help us complete heavy, repetitive and tedious tasks.

My Ph.D. research focuses on investigating the approaches for robotic manipulation of long deformable objects with 2D plane structure like belts and strips, mainly in the following aspects:

1. vision-based shape detection and state estimation;
2. position-based prehensile manipulation and force-based non-prehensile manipulation;
3. manipulation planning in industrial assembly.

For my master's, I worked on robotic manipulation planning of long deformable objects with 1D linear structure, e.g. cables and ropes.

Dual-arm Mobile Manipulation Planning of a Long Deformable Object in Industrial Installation
Yili Qin, Adrien Escande, Fumio Kanehiro, Eiichi Yoshida
IEEE Robotics and Automation Letters (RA-L), will present in IROS 2023, USA
Oct. 2023

Vision-based Belt Manipulation by Humanoid Robot
Yili Qin, Adrien Escande, Arnaud Tanguy, Eiichi Yoshida
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, USA
Oct. 2020

Cable Installation by a Humanoid Integrating Dual-Arm Manipulation and Walking
Yili Qin, Adrien Escande, Eiichi Yoshida
IEEE/SICE International Symposium on System Integration (SII), 2019, France
Jan. 2019

• JRP: BeltAssembly
  Project Info: A cooperation project with a Fortune Global 500 company in Europe.
  Description: In the production hall, use a humanoid robot to unwind a long flexible belt from a bobbin, and assemble the belt to some specified rollers in an installation station.
  Keywords: Manipulation planning, dual-arm regrasp for deformable object, loco-manipulation, whole-body motion control.

• AIST-ICPS
  Project Info: A strategic research project "Industrial Cyber-Physical Systems (ICPS)" in AIST.
  Description: In convenience stores, use mobile manipulator Fetch robot to load and unload items.
  Keywords: Manipulation planning, mobile manipulation, object detection.

• JRP: PushBigObject
  Project Info: A cooperation project with a Fortune Global 500 company in Europe.
  Description: In the production hall, use a humanoid robot to move a very big and heavy (>100kg) industrial bobbin to desired position by humanoid robot.
  Keywords: Loco-manipulation, whole-body motion control.

• TrackDOShape
  Project Info: A pre-research project for project "JRP: BeltAssembly".
  Description: Visual detection and tracking of 1D and 2D long deformable objects (e.g. ropes, cables and belts) in 3D space with RGB-D camera.
  Keywords: Point-set registration, shape detection.

• JRP: InstallCable
  Project Info: A subproject of COMANOID. Project COMANOID is a research project with aerospace corporation Airbus, part of the European Horizon H2020 program.
  Description: Inspired by the scenario in the aircraft manufacturing industry, use a humanoid robot to install a long cable to some specified clamps.
  Keywords: Task planning, primitive-based motion planning, deformable linear object installation, whole-body motion control.