Chao Liu

Chao Liu

Ph.D. Student in Robotics

University of Pennsylvania

Biography

I am currently a Postdoctoral Associate at MIT CSAIL working with Professor Daniela Rus. I obtained my Ph.D. degree from the University of Pennsylvania advised by Professor Mark Yim (ModLab (Modular Robotics Lab in GRASP Lab) ). My PhD thesis is about modular robotics, control, and motion planning. I was mainly working on two self-reconfigurable modular robots: SMORES-EP and Variable Topology Truss .

Interests
  • Modular Robotics
  • Control
  • Motion Planning
Education
  • PhD in Mechanical Engineering and Applied Mechanics, 2021

    University of Pennsylvania

  • MS in Mechanical Engineering and Applied Mechanics, 2014

    University of Pennsylvania

  • BS in Mechanical Engineering and Automation, 2012

    Dalian Jiaotong University

Projects

Manipulation in Real-Time

Manipulation in Real-Time

Control and planning for dexterous manipulation in real-time.

SMORES-EP

SMORES-EP

SMORES-EP, a hybrid modular robotic system.

Variable Topology Truss

Variable Topology Truss

Variable Topology Truss robots are self-reconfigurable truss robots.

Aerial Manipulation

Aerial Manipulation

A novel manipulator for aerial manipulation.

Publications

(2021). A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots. Journal of Mechanisms and Robotics.

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(2021). A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots. The International Journal of Robotic Computing (Invited).

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(2020). A Quadratic Programming Approach to Modular Robot Control and Motion Planning. 2020 Fourth IEEE International Conference on Robotic Computing (IRC).

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(2020). Motion Planning for Variable Topology Truss Modular Robot. Proceedings of Robotics: Science and Systems (RSS).

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(2020). A Fast Configuration Space Algorithm for Variable Topology Truss Modular Robots. 2020 International Conference on Robotics and Automation (ICRA).

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(2020). Parallel Self-assembly with SMORES-EP, a Modular Robot. 2020 International Conference on Robotics and Automation (ICRA) (Accepted).

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(2019). Reconfiguration Motion Planning for Variable Topology Truss. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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(2019). Spiral Zipper Manipulator for Aerial Grasping and Manipulation. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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(2019). A Distributed Reconfiguration Planning Algorithm for Modular Robots. IEEE Robotics and Automation Letters.

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(2019). Shape Morphing for Variable Topology Truss. 2019 16th International Conference on Ubiquitous Robots (UR).

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(2019). Toward Lateral Aerial Grasping Manipulation Using Scalable Suction. 2019 International Conference on Robotics and Automation (ICRA).

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(2017). Configuration Recognition with Distributed Information for Modular Robots. IFRR International Symposium on Robotics Research (ISRR).

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(2017). PaintPots: Low Cost, Accurate, Highly Customizable Potentiometers for Position Sensing. 2017 IEEE International Conference on Robotics and Automation (ICRA).

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(2016). Design and Characterization of the EP-Face Connector. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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