Code

My Code on GitHub

Human-Robot Interaction

[2] Lachlan Scott, Tangyou Liu, Liao Wu*. A low-cost teleoperable surgical robot with a macro-micro structure and a continuum tip for open-source research. In: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2024). Boston, USA, 2024: 1-6. (*corresponding author, accepted) [CODE][PDF][VIDEO][DOI]
[1] Liao Wu*, Fangwen Yu, Thanh Nho Do, Jiaole Wang*. Camera frame misalignment in a teleoperated eye-in-hand robot: Effects and a simple correction method. IEEE Transactions on Human-Machine Systems. 2023, 53(1): 2-12. (*corresponding author) [CODE][PDF][VIDEO][DOI]

[3] Andrew Razjigaev, Ajay Pandey, David Howard, Jonathan Roberts, Anjali Jaiprakash, Ross Crawford, Liao Wu*. Optimal vision-based orientation steering control for a 3D printed dexterous snake-like manipulator to assist teleoperation. IEEE/ASME Transactions on Mechatronics. 2024, 29(2): 1260-1271. (*corresponding author) [CODE][PDF][VIDEO][DOI]
[2] Andrew Razjigaev, Ajay Pandey, David Howard, Jonathan Roberts, Liao Wu*. SnakeRaven: Teleoperation of a 3D printed snake-like manipulator integrated to the RAVEN II surgical robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). Prague, Czech, 2021: 5282-5288. (*corresponding author) [CODE][PDF][VIDEO][DOI]
[1] Liao Wu, Ross Crawford, Jonathan Roberts. Dexterity analysis of three 6-DOF continuum robots combining concentric tube mechanisms and cable driven mechanisms. IEEE Robotics and Automation Letters. 2017, 2(2): 514-521. (presented at ICRA 2017) [CODE][PDF][DOI]

[2] Liao Wu, Ross Crawford, Jonathan Roberts. Geometric interpretation of the general POE model for a serial-link robot via conversion into D-H parameterization. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2019). Montreal, Canada, 2019: 7360-7366. [CODE][PDF][POSTER][DOI]
[1] Liao Wu, Ross Crawford, Jonathan Roberts. An analytic approach to converting POE parameters into D-H parameters for serial-link robots. IEEE Robotics and Automation Letters. 2017, 2(4): 2174-2179. (presented at IROS 2017) [CODE][PDF][DOI]

[4] Liao Wu, Hongliang Ren. Finding the kinematic base frame of a robot by hand-eye calibration using 3D position data. IEEE Transactions on Automation Science and Engineering. 2017, 14(1): 314-324. [CODE][PDF][VIDEO][DOI]
[3] Liao Wu†, Jiaole Wang†, Lin Qi, Keyu Wu, Hongliang Ren, Max Q.-H. Meng. Simultaneous hand-eye, tool-flange and robot-robot calibration for comanipulation by solving the AXB = YCZ problem. IEEE Transactions on Robotics. 2016, 32(2): 413-428. († equally contributing authors) [CODE][PDF][VIDEO][DOI]
[2] Liao Wu, Xiangdong Yang, Ken Chen, Hongliang Ren. A minimal POE-based model for robotic kinematic calibration with only position measurements. IEEE Transactions on Automation Science and Engineering. 2015, 12(2): 758-763. [CODE][PDF][DOI]
[1] Xiangdong Yang, Liao Wu*, Jinquan Li, Ken Chen. A minimal kinematic model for serial robot calibration using POE formula. Robotics and Computer-Integrated Manufacturing. 2014, 30(3): 326-334. (* corresponding author) [CODE][PDF][DOI]