Yanyan Yuan (袁炎炎)

PhD student at School of Aeronautics and Astronautics, Zhejiang University；Robotics & Robotic Arm & Humanoid Robot & RL

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Yanyan Yuan (袁炎炎)

I am Yanyan Yuan. I received my Ph.D. degree in 2025 and B.Eng. degree in 2020 from the School of Aeronautics and Astronautics, Zhejiang University.

My research focuses on humanoid robot motion control, general motion tracking, motion generation, behavior foundation models and humanoid-object Interaction. I aim to develop embodiment-aware control methods for robust, agile, and task-adaptive whole-body motion in real-world.

I have also worked on the design and control of robotic manipulators and five-finger dexterous hands, with broader interests in connecting robot embodiment, motion generation, and real-world task execution.

Humanoid Robot Motion Tracking Humanoid-Object Interaction Behavior Foundation Model Robotic Arm dexterous robotic hand
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Yanyan Yuan

News

  • 2026-09 Released PGMT, a preprint on perceptive motion tracking for humanoid robots.
  • 2026-09 Released Breaking speed, a preprint on quadrupedal locomotion via coupled-pendulum dynamics.
  • 2026-08 Our paper on Extending the speed limit of quadrupedal locomotion has been accepted by IEEE RA-L.
  • 2026-06 Released a demonstration of a soccer-ball juggling task on the Bolt humanoid robot, showcasing dynamic whole-body coordination and balance control.

Projects

Dynamic trajectory generation framework for badminton robot striking

Humanoid Robot Bolt Juggle Soccer Ball

Yanyan Yuan, Mirrorme Technology Co., Ltd.

Project Page

Research

PGMT humanoid motion tracking across varied terrain

PGMT: Perceptive General Motion Tracking for Humanoid Robots

Hongyi Li, Li Peizhuo, Yucheng Tao, Ze Wang, Fangzhou Xu, Jinyi Chen, Yanyan Yuan, Dapeng Jia, Yongbin Jin, Mingfeng Fan, Guillaume Sartoretti, Hongtao Wang

arXiv preprint, arXiv:2609.08511, 2026

Paper Project Page
BlackPanther2 quadruped running at high speed on a treadmill

Extending the Speed Limit of Quadrupedal Locomotion via Refined Actuator Modeling and Adaptive Command Scheduling

Yucheng Tao, Shaowen Cheng, Guorong Lan, Yanyan Yuan, Yongbin Jin, Hongtao Wang

IEEE Robotics and Automation Letters, 2026

Paper
Huygens' coupled-pendulum dynamics for high-speed quadrupedal locomotion

Breaking speed scaling in quadrupedal robots via Huygens' coupled-pendulum dynamics

Yucheng Tao, Yongbin Jin, Shaowen Cheng, Xianwei Liu, Yanyan Yuan, Yanhong Liang, Chengkai Su, Chaojie Fu, Guorong Lan, Wei Yang, Hongtao Wang

arXiv preprint, arXiv:2609.13290, 2026

Paper
Dynamic trajectory generation framework for badminton robot striking

Imitation-Relaxation Reinforcement Learning for Sparse Badminton Strikes via Dynamic Trajectory Generation

Yanyan Yuan, Yucheng Tao, Shaowen Cheng, Yanhong Liang, Yongbin Jin, Hongtao Wang

Front. Neurorobot., Volume 19, 02 September 2025

Paper Project Page Code
High-dynamic robotic arm design

Optimal Design of High-Dynamic Robotic Arm Based on Angular Momentum Maximum

Yanyan Yuan, Xianwei Liu, Lei Jiang, Yongbin Jin, Hongtao Wang

IEEE Robotics and Automation Letters, Volume 10, Issue 4, April 2025

Paper