Denglin Cheng

About Me

I am a Master’s student in Robotics (MSE) at Johns Hopkins University, advised by Prof. Jin-Seob Kim. Before that, I completed my bachelor’s degree in Mechanical Engineering at Zhejiang University.

During Summer of 2025, I was fortunate to work as a research assistant at the WELL Lab at the University of Wisconsin–Madison, with Prof. Xiaobin Xiong and Jiarong Kang on legged-robot state estimation and calibration.

Research Interests

• Contact and friction modeling, especially from complementarity/hybrid models to convex, differentiable, and smoothed relaxations;
• Numerical methods with emphasis on derivative information given nonsmooth contact, and constraint qualification, violation, and relaxation;
• Integrations of reasoning and learning method, especially dynamically consistent trajectories serve as priors or supervision for data-driven method.