Zhihai Bi

Zhihai Bi | 毕志海

The Hong Kong university of Science and Technology, Guangzhou, China

Email: zbi217@connect.hkust-gz.edu.cn

Educations

Bachelor: Southeast University (August 2017 - July 2021)
Major in Robot Engineering, GPA: 90.25/100
Master: Fudan University (August 2021 - July 2024)
Institute of AI and Robotics, supervised by Hongbin Fang
PhD: HKUST(GZ) (September 2024 - September 2027 (expected))
Supervised by Jun MA, and Michael Yu WANG

Research Interests

I am interested in loco-manipulation, specifically for long-horizon mobile interaction with various objects (beyond simple table-top pick-and-place tasks), to alleviate human workload. Feel free to contact me if you are interested in working together!

Publications

	Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning Chunxin Zheng, Kai Chen, Zhihai Bi, Yulin Li, Liang Pan, Jinni Zhou, Haoang Li, Jun Ma Submitted to ICRA , 2026 Embracing Bulky Objects with Humanoid Robots using WBC.
	SAMP: Spatial Anchor-based Motion Policy for Collision-Aware Robotic Manipulators Kai Chen, Zhihai Bi, Guoyang Zhao, Chunxin Zheng, Yulin Li, Hang Zhao, Jun Ma Submitted to T-Mech , 2025 Encodes the environment and the manipulator using signed distance field.
	FLORES: A Reconfigured Wheel-Legged Robot for Enhanced Steering and Adaptability Zhicheng Song, Jinglan Xu, Chunxin Zheng, Yulin Li, Zhihai Bi, Jun Ma Submitted to RA-L , 2025 Design and RL locomotion for Reconfigured Wheel-Legged Robot
	Dynamic modeling and analysis for planar peristaltic locomotion of a metameric earthworm-like robot Hongbin Fang, Qinyan Zhou, Zhihai Bi, Qiwei Zhang, Jian Xu The International Journal of Robotics Research (IJRR). Top , 2025 Accurate dynamics modeling for worm-like robot
	Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller Zhihai Bi, Kai Chen, Chunxin Zheng, Yulin Li, Haoang Li, Jun Ma IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2025 Best Paper Award on Mobile Manipulation Best Student Paper Award Finalist Interactive navigation framework for legged manipulators, featuring an active arm-pushing mechanism
	FRTree planner: Robot navigation in cluttered and unknown environments with tree of free regions Yulin Li, Zhicheng Song, Chunxin Zheng, Zhihai Bi, Kai Chen, Michael Yu Wang, Jun Ma IEEE Robotics and Automation Letters (RA-L), 2025 Robot navigation in cluttered and unknown environments with tree of free regions
	Local Reactive Control for Mobile Manipulators with Whole-Body Safety in Complex Environments Chunxin Zheng, Yulin Li, Zhiyuan Song, Zhihai Bi, Jinni Zhou, Boyu Zhou, Jun Ma IEEE Robotics and Automation Letters (RA-L), 2025 Reactive Control for Mobile Manipulators with Whole-Body Safety in Complex Environments
	A multimodal metameric earthworm-like robot for locomotion in multiterrain environments Zihan He, Qiwei Zhang, Zhihai Bi, Hongbin Fang IEEE/ASME transactions on mechatronics, 2024 A multimodal metameric earthworm-like robot

A Worm-Snake-Inspired Metameric Robot for Multi-Modal Locomotion: Design, Modeling, and Unified Gait Control
Zhihai Bi, Qinyan Zhou, Hongbin Fang
International Journal of Mechanical Sciences, Q1, Top , 2023

This paper presents a new design and prototype of a Worm-Snake-Inspired Metameric robot with multi-modal locomotion capability.

Design and path planning for a Worm-Snake-Inspired Metameric (WSIM) Robot
Zhihai Bi, Jian Xu, Hongbin Fang
IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022

Path planning for the robot with multi-modal locomotion capability.

Technical Reviewer

IROS, ICRA, RA-L, TIV, TIE

Skills

Robot design: Solidwork、STM32、Altium Designer...
Robot modeling: Kinematics and dynamics modeling、Newton Euler and Lagrange、ODE45...
Robot simulation: Webot、Gazebo、RViz、isaacgym、isaacsim...
Robot programming: ROS, C/C++, Python, Matlab, OSQP, OOQP...
Language: Cantonese, Mandarin, English

Selected Awards

IROS Best Paper Award on Mobile Manipulation,

2025

IROS Best Student Paper Award Finalist,

2025

Outstanding Graduate Student Award of Southeast University(TOP 3%),

2021

China ICV Algorithms Challenge(1st place) ,

2022

The 15th National Student Intelligent Vehicle Competition(2nd prize),

2020

The 10th University Robotics Competition, Jiangsu Province (1st place),

2019

Principal's Scholarship of Southeast University (TOP 1%),

2017-2018

Tang Zhongying Moral Education Scholarship (four consecutive years),

2017-2021

School Prize of Fudan University.

2021-2022