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Yiming Yang

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I have joined IPAB since Oct 2013 and now a postdoc research associate in the SLMC group. I obtained my B.Sc in Electronic Engineering from the joint program between Nanjing University of Technology (Nanjing, China) and the Institute of Technology Tallaght (Dublin, Ireland) in 2011 and my M.Sc in Artificial Intelligence at University of Edinburgh (Edinburgh, UK) in 2012.

I am currently working on humanoid robot full-body motion synthesis, especially fast motion planning and real-time motion adaptation techniques in complex and dynamically changing environments. The project is supervised by Prof. Sethu Vijayakumar.








School of Informatics, University of Edinburgh
Informatics Forum, 1.25
10 Crichton Street
Edinburgh EH8 9AB



  • Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Zhibin Li, and Sethu Vijayakumar. HDRM: A Resolution Complete Dynamic Roadmap for Realtime Motion Planning in Complex Environments. In IEEE Robotics and Automation Letter (RA-L), 2017. Under review.
  • Yiming Yang, Wolfgang Merkt, Henrique Ferrolho, Vladimir Ivan, and Sethu Vijayakumar. Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps. In IEEE Robotics and Automation Letter (RA-L), 2017
  • Qingbiao Li, Iordanis Chatzinikolaidis, Yiming Yang, Sethu Vijayakumar, and Zhibin Li. Robust Foot Placement Control for Dynamic Walking Using Online Parameter Estimation. IEEE Humanoids, 2017.
  • Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Chris Mower, Maurice Fallon and Sethu Vijayakumar. Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring. In Proceeding of IEEE Conference on Automation Science and Engineering (CASE), 2017, Xi’an, China.
  • Yiming Yang, Vladimir Ivan, Zhibin Li, Maurice Fallon, Sethu Vijayakumar, iDRM: Humanoid Motion Planning with Real-Time End-Pose Selection in Complex Environments, IEEE Humanoids, 2016
  • Yiming Yang, Vladimir Ivan, Wolfgang Merkt, Sethu Vijayakumar,  Scaling Sampling-based Motion Planning to Humanoid Robots, IEEE ROBIO, 2016
  • Yiming Yang, Vladimir Ivan and Sethu Vijayakumar, Real-Time Motion Adaptation using Relative Distance Space Representation, Proc. 17th IEEE International Conf. on Advanced Robotics (ICAR 2015), Istanbul, Turkey (2015).
  • Orthey, Andreas, Vladimir Ivan, Maximilien Naveau, Yiming Yang, Olivier Stasse, and Sethu Vijayakumar. "Homotopic particle motion planning for humanoid robotics.". 2015
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