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60

Publications of Chao Liu


Dr. Liu received his Ph.D. degree in Electrical & Electronic Engineering from Nanyang Technological University, Singapore in 2006. He joined French National Center for Scientific Research (CNRS) as CR2 Research Scientist in 2008 and was promoted to CR1 Senior Research Scientist in 2012. Dr. Liu's research interests include surgical robotics, teleoperation, haptics, control theory/system, and computer vision. Dr. Liu is involved in several European and French national research projects on medical robotics as Principle Investigator or participant. He is an expert panelist of Project Evaluation Committee for French National Research Agency (ANR) and Swiss National Science Foundation (SNSF). Dr. Liu serves on IEEE Technical Committee on "Telerobotics" since 2011, IFAC Technical Committee on "Biological and Medical systems" since 2012 and IEEE Technical Committee on "Haptics". He also serves as program committee member and associate editor for numerous international conferences.

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Journal articles24 documents

  • Jing Luo, Chao Liu, Ying Feng, Chenguang Yang. A method of motion recognition based on electromyographic signals. Advanced Robotics, Taylor & Francis, 2020, 34 (15), pp.976-984. ⟨10.1080/01691864.2020.1750480⟩. ⟨lirmm-03069718⟩
  • Hai-Jun Tian, Yang Xu, Chao Liu, Hans-Walter Rix, Branimir Sesar, et al.. The Extended Gaia–PS1–SDSS (GPS1+) Proper Motion Catalog. Astrophysical Journal Supplement, American Astronomical Society, 2020, 248 (2), pp.28. ⟨10.3847/1538-4365/ab8d27⟩. ⟨hal-03148400⟩
  • Chenguang Yang, Jing Luo, Chao Liu, Miao Li, Shi-Lu Dai. Haptics Electromyography Perception and Learning Enhanced Intelligence for Teleoperated Robot. IEEE Transactions on Automation Science and Engineering, Institute of Electrical and Electronics Engineers, 2019, 16 (4), pp.1512-1521. ⟨10.1109/TASE.2018.2874454⟩. ⟨lirmm-02315619⟩
  • Jing Luo, Chao Liu, Ning Wang, Chenguang Yang. A wave variable approach with multiple channel architecture for teleoperated system. IEEE Access, IEEE, 2019, 7, pp.143912-143920. ⟨10.1109/ACCESS.2019.2945674⟩. ⟨lirmm-02315649⟩
  • Jing Guo, Chao Liu, Philippe Poignet. A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time Delay. Journal of Intelligent and Robotic Systems, Springer Verlag, 2019, 95, pp.165-192. ⟨10.1007/s10846-018-0918-1⟩. ⟨lirmm-01866495⟩
  • Jing Guo, Yi Liu, Qing Qiu, Jie Huang, Chao Liu, et al.. A Novel Robotic Guidance System with Eye Gaze Tracking Control for Needle based Interventions. IEEE Transactions on Cognitive and Developmental Systems, Institute of Electrical and Electronics Engineers, Inc, In press, pp.1-1. ⟨10.1109/TCDS.2019.2959071⟩. ⟨lirmm-03069985⟩
  • Jing Luo, Chenguang Yang, Hang Su, Chao Liu. A Robot Learning Method with Physiological Interface for Teleoperation Systems. Applied Sciences, MDPI, 2019, 9 (10), pp.2099. ⟨10.3390/app9102099⟩. ⟨lirmm-02315641⟩
  • Jing Luo, Chao Liu, Chenguang Yang. Estimation of EMG-Based Force Using a Neural-Network-Based Approach. IEEE Access, IEEE, 2019, 7, pp.64856-64865. ⟨10.1109/ACCESS.2019.2917300⟩. ⟨lirmm-02315621⟩
  • Bo Yang, Chao Liu, Wenfeng Zheng, Shan Liu, Keli Huang. Reconstructing a 3D heart surface with stereo-endoscope by learning eigen-shapes. Biomedical optics express, Optical Society of America - OSA Publishing, 2018, 9 (12), pp.6222-6236. ⟨10.1364/BOE.9.006222⟩. ⟨lirmm-02421182⟩
  • Xianbo Xiang, Chao Liu, Hongsheng Su, Qin Zhang. On decentralized adaptive full-order sliding mode control of multiple UAVs. ISA Transactions, Elsevier, 2017, 71 (Part 2), pp.196-205. ⟨10.1016/j.isatra.2017.09.008⟩. ⟨lirmm-01685296⟩
  • Bo Yang, Chao Liu, Wenfeng Zheng, Shan Liu. Motion prediction via online instantaneous frequency estimation for vision-based beating heart tracking. Information Fusion, Elsevier, 2017, 35, pp.58-67. ⟨10.1016/j.inffus.2016.09.004⟩. ⟨lirmm-01624759⟩
  • Bo Yang, Chao Liu, Keli Huang, Wenfeng Zheng. A triangular radial cubic spline deformation model for efficient 3D beating heart tracking. Signal, Image and Video Processing, Springer Verlag, 2017, 11 (7), pp.1329-1336. ⟨10.1007/s11760-017-1090-y⟩. ⟨lirmm-01624764⟩
  • Hai-Jun Tian, Prashansa Gupta, Branimir Sesar, Hans-Walter Rix, Nicolas Martin, et al.. A Gaia -PS1-SDSS (GPS1) Proper Motion Catalog Covering 3/4 of the Sky. Astrophysical Journal Supplement, American Astronomical Society, 2017, 232 (1), pp.4. ⟨10.3847/1538-4365/aa826a⟩. ⟨hal-03148452⟩
  • Antonio Pappalardo, Abdulrahman Albakri, Chao Liu, Luca Bascetta, Elena de Momi, et al.. Hunt-Crossley Model Based Force Control For Minimally Invasive Robotic Surgery. Biomedical Signal Processing and Control, Elsevier, 2016, 29, pp.31-43. ⟨lirmm-01313221⟩
  • Mohamed Nassim Boushaki, Mohamed Taha Chikhaoui, Kanty Rabenorosoa, Chao Liu, Nicolas Andreff, et al.. Conception, modélisation et commande des robots à tubes concentriques : vers des applications médicales. Techniques de l'Ingenieur, Techniques de l'ingénieur, 2016, Robotique, TIP661WEB, pp.S7767. ⟨lirmm-01624753⟩
  • Pedro Moreira, Nabil Zemiti, Chao Liu, Philippe Poignet. Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation. Computer Methods and Programs in Biomedicine, Elsevier, 2014, 116 (2), pp.52-67. ⟨10.1016/j.cmpb.2014.01.017⟩. ⟨lirmm-00940940⟩
  • Bo Yang, Wai-Keung Wong, Chao Liu, Philippe Poignet. 3D soft-tissue tracking using spatial-color joint probability distribution and thin-plate spline model. Pattern Recognition, Elsevier, 2014, 47 (9), pp.2962-2973. ⟨10.1016/j.patcog.2014.03.020⟩. ⟨lirmm-01008788⟩
  • Bo Yang, Chao Liu. Robust 3D Motion Tracking for Vision-Based Control in Robotic Heart Surgery. Asian Journal of Control, Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) 2014, 16 (3), pp.632-645. ⟨10.1002/asjc.785⟩. ⟨lirmm-01275348⟩
  • Calvin Wong, Bo Yang, Chao Liu, Philippe Poignet. A Quasi-Spherical Triangle-Based Approach for Efficient 3-D Soft-Tissue Motion Tracking. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2013, 18 (5), pp.1472-1484. ⟨10.1109/TMECH.2012.2203919⟩. ⟨lirmm-00976065⟩
  • Xianbo Xiang, Chao Liu, Lionel Lapierre, Bruno Jouvencel. Synchronized Path Following Control on Multiple Homogenous Underactuated AUVs. Journal of Systems Science and Complexity, Springer Verlag (Germany), 2012, pp.071-089. ⟨lirmm-00808310⟩
  • Xianbo Xiang, Chao Liu, Lionel Lapierre, Bruno Jouvencel. Synchronized Path Following Control of Multiple Homogeneous Underactuated AUVs. Journal of Systems Science and Complexity, Springer Verlag (Germany), 2012, pp.71-89. ⟨hal-00733812⟩
  • Rogerio Richa, Philippe Poignet, Chao Liu. 3D motion tracking for beating heart surgery. The International Journal of Robotics Research, SAGE Publications, 2010, 29 (2-3), pp.218-230. ⟨lirmm-00431793⟩
  • Chien Chern Cheah, Chao Liu, Jean-Jacques E. Slotine. Adaptive Jacobian Vision Based Control for Robots with Uncertain Depth Information. Automatica, Elsevier, 2010, 46, pp.1228-1233. ⟨10.1016/j.automatica.2010.04.009⟩. ⟨lirmm-00629327⟩
  • Chao Liu, Chien Chern Cheah, Jean-Jacques E. Slotine. Adaptive Task-Space Regulation of Rigid-Link Flexible-Joint Robots with Uncertain Kinematics. Automatica, Elsevier, 2008, 44, pp.1806-1814. ⟨lirmm-00366215⟩

Conference papers34 documents

  • Jingxiang Chen, Chao Liu, Rongxin Cui, Chenguang Yang. Hand Tracking Accuracy Enhancement by Data Fusion Using Leap Motion and MYO. International Conference on Unmanned Systems and Artificial Intelligence (ICUSAI), Nov 2019, Xi'an, Shaanxi, China. ⟨lirmm-02409783⟩
  • Yuhang Ye, Chao Liu, Nabil Zemiti, Chenguang Yang. Optimal Feature Selection for EMG-Based Finger Force Estimation Using LightGBM Model. RO-MAN: Robot & Human Interactive Communication, Oct 2019, New Delhi, India. ⟨lirmm-02315613⟩
  • Jing Luo, Chenguang Yang, Chao Liu, Yuxia Yuan, Zhijun Li. Wrist Motion Recognition by Using Electromyographic Signals. ICARM: International Conference on Advanced Robotics and Mechatronics, Jul 2019, Toyonaka, Japan. pp.130-135, ⟨10.1109/ICARM.2019.8833665⟩. ⟨lirmm-02315573⟩
  • Congyuan Liang, Chao Liu, Xiaofeng Liu, Long Cheng, Chenguang Yang. Robot Teleoperation System Based on Mixed Reality. ICARM: International Conference on Advanced Robotics and Mechatronics, Jul 2019, Toyonaka, Japan. pp.384-389, ⟨10.1109/ICARM.2019.8834302⟩. ⟨lirmm-02315582⟩
  • Jing Luo, Chao Liu, Yanan Li, Chenguang Yang. A Framework of Human impedance Estimation for Human-Robot Interaction. ICAC: International Conference on Automation and Computing, Sep 2019, Lancaster, United Kingdom. ⟨lirmm-02315606⟩
  • Congyuan Liang, Chenguang Yang, Chao Liu, Ying Feng. MYO Armband and Leap Motion data fusion with OpenSim based Virtual Reality Environment. ICCSIP: International Conference on Cognitive Systems and Information Processing, Nov 2018, Beijing, China. ⟨lirmm-02315560⟩
  • Chao Liu, Jing Guo, Philippe Poignet. Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication Delay. 12th IFAC Symposium on Robot Control (SYROCO), Aug 2018, Budapest, Hungary. pp.493-499, ⟨10.1016/j.ifacol.2018.11.585⟩. ⟨hal-01868281⟩
  • Bo Yang, Chao Liu, Wenfeng Zheng. PCA-based 3D Pose Modeling for Beating Heart Tracking. 13th International Conference on Natural Computation, Fuzzy Systems and Knowledge Discovery (ICNC-FSKD 2017), Jul 2017, Guilin, China. pp.586-590, ⟨10.1109/FSKD.2017.8393335⟩. ⟨lirmm-03130669⟩
  • Mohamed Nassim Boushaki, Chao Liu, Benoît Herman, Vincent Trévillot, Mohamed Akkari, et al.. Optimization of concentric-tube robot design for deep anterior brain tumor surgery. ICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. ⟨10.1109/ICARCV.2016.7838563⟩. ⟨lirmm-01489241⟩
  • Bo Yang, Chao Liu, Philippe Poignet, Zheng Wenfeng, Shan Liu. Motion Prediction Using Dual Kalman Filter for Robust Beating Heart Tracking. EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4875-4878, ⟨10.1109/EMBC.2015.7319485⟩. ⟨lirmm-01275441⟩
  • Jing Guo, Chao Liu, Philippe Poignet. Enhanced Position-Force Tracking of Time-Delayed Teleoperation for Robotic-Assisted Surgery. EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4894-4897, ⟨10.1109/EMBC.2015.7319489⟩. ⟨lirmm-01275446⟩
  • Jing Guo, Chao Liu, Philippe Poignet. Stable and Enhanced Position-Force Tracking for Bilateral Teleoperation with Time Delay. ECC: European Control Conference, Jul 2015, Linz, Austria. pp.1980-1985, ⟨10.1109/ECC.2015.7330829⟩. ⟨lirmm-01275452⟩
  • Abdulrahman Albakri, Chao Liu, Philippe Poignet. Environment Modeling with Physiological Motion Disturbance for Surgical Teleoperation. ICCARV: International Conference on Control, Automation, Robotics and Vision, Dec 2014, Singapore, Singapore. pp.1298-1303, ⟨10.1109/ICARCV.2014.7064503⟩. ⟨lirmm-01275458⟩
  • Chao Liu, Philippe Poignet. Haptic Teleoperation and Concentric Tube Robot - Some New Control Developments for New Surgical Robot Applications. EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. ⟨lirmm-01275469⟩
  • Mohamed Nassim Boushaki, Chao Liu, Philippe Poignet. Task-Space Position Control of Concentric-Tube Robot with Inaccurate Kinematics Using Approximate Jacobian. ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.5877-5882, ⟨10.1109/ICRA.2014.6907724⟩. ⟨lirmm-01275481⟩
  • Jing Guo, Chao Liu, Philippe Poignet. Scaled Position-Force Tracking for Wireless Teleoperation of Miniaturized Surgical Robotic System. EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. pp.361-365, ⟨10.1109/EMBC.2014.6943604⟩. ⟨lirmm-01275470⟩
  • Abdulrahman Albakri, Chao Liu, Philippe Poignet. Stability and Performance Analysis of Three-Channel Teleoperation Control Architectures for Medical Applications. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.456-462, ⟨10.1109/IROS.2013.6696391⟩. ⟨lirmm-00963642⟩
  • Luis Alonso Sanchez Secades, Chao Liu, Nabil Zemiti, Philippe Poignet, Etienne Dombre. Control of meso-robots for endoluminal Surgery. CRAS: New Technologies for Computer/Robot Assisted Surgery, Sep 2013, Verone, Italy. ⟨lirmm-00958690⟩
  • Luis Alonso Sanchez Secades, Minh-Quyen Le, Kanty Rabenorosoa, Chao Liu, Nabil Zemiti, et al.. A Case Study of Safety in the Design of Surgical Robots: The ARAKNES Platform. IAS: Intelligent Autonomous Systems, Jun 2012, Jeju Island, South Korea. pp.121-130, ⟨10.1007/978-3-642-33932-5_12⟩. ⟨lirmm-00808392⟩
  • Pedro Moreira, Chao Liu, Nabil Zemiti, Philippe Poignet. Beating Heart Motion Compensation Using Active Observers and Disturbance Estimation. SYROCO: Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.741-746, ⟨10.3182/20120905-3-HR-2030.00164⟩. ⟨lirmm-00779219⟩
  • Chao Liu, Pedro Moreira, Philippe Poignet. Viscoelastic Model Based Force Tracking Control for Robotic-Assisted Surgery. BioRob: Biomedical Robotics and Biomechatronics, Jun 2012, Roma, Italy. pp.1199-1204. ⟨lirmm-00757181⟩
  • Pedro Moreira, Chao Liu, Nabil Zemiti, Philippe Poignet. Soft tissue force control using active observers and viscoelastic interaction model. ICRA: International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. pp.4660-4666, ⟨10.1109/ICRA.2012.6224958⟩. ⟨lirmm-00779205⟩
  • Luis Alonso Sanchez Secades, Minh-Quyen Le, Chao Liu, Nabil Zemiti, Philippe Poignet. The impact of interaction model on stability and transparency in bilateral teleoperation for medical applications. ICRA: International Conference on Robotics and Automation, May 2012, St. Paul, MN, United States. pp.1607-1613, ⟨10.1109/ICRA.2012.6225314⟩. ⟨lirmm-00808388⟩
  • Chao Liu, Xianbo Xiang, Philippe Poignet. Adaptive Tracking Control of Rigid-Link Flexible-Joint Robot Manipulator with Uncertainties. IFAC 18th World Congress 2011, Milano, Italy. pp.10300-10306. ⟨lirmm-00629392⟩
  • Xianbo Xiang, Lionel Lapierre, Chao Liu, Bruno Jouvencel. Path Tracking: Combined Path Following and Trajectory Tracking for Autonomous Underwater Vehicles. IROS: Intelligent Robots and Systems, Sep 2011, San Francisco, United States. pp.3558-3563. ⟨lirmm-00629343⟩
  • Luis Alonso Sanchez Secades, Gianluigi Petroni, Marco Piccigallo, Umberto Scarfogliero, Marta Niccolini, et al.. Real-time control and evaluation of a teleoperated miniature arm for Single Port Laparoscopy. EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7049-7053, ⟨10.1109/IEMBS.2011.6091782⟩. ⟨lirmm-00808384⟩
  • Yo Kobayashi, Pedro Moreira, Chao Liu, Philippe Poignet, Nabil Zemiti, et al.. Haptic Feedback Control in Medical Robots Through Fractional Viscoelastic Tissue Model. EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6704-6708, ⟨10.1109/IEMBS.2011.6091653⟩. ⟨lirmm-00623166⟩
  • Chao Liu, Pedro Moreira, Nabil Zemiti, Philippe Poignet. 3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue Model. EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7054-7058, ⟨10.1109/IEMBS.2011.6091783⟩. ⟨lirmm-00623173⟩
  • Philippe Poignet, Rogerio Richa, Antonio Padilha Lanari Bo, Chao Liu. Robust 3D Tracking for Robotic-Assisted Beating Heart Surgery. EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6686-6690, ⟨10.1109/IEMBS.2011.6091648⟩. ⟨lirmm-00623150⟩
  • Chao Liu, Philippe Poignet. SP-ID regulation of rigid-link electrically driven robots with uncertain kinematics. ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, AK, United States. pp.4663-4668, ⟨10.1109/ROBOT.2010.5509996⟩. ⟨lirmm-00472116⟩
  • Philippe Poignet, Ahmed Chemori, Nabil Zemiti, Chao Liu. Some control-related issues in mini-robotics for endoluminal surgery. EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855. ⟨lirmm-00431187⟩
  • Rogerio Richa, Philippe Poignet, Chao Liu. Deformable motion tracking of the heart surface. IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.3997-4003, ⟨10.1109/IROS.2008.4650916⟩. ⟨lirmm-00286414⟩
  • Rogerio Richa, Philippe Poignet, Chao Liu. Efficient 3D tracking for motion compensation in beating heart surgery. MICCAI: Medical Image Computing and Computer Assisted Intervention, Sep 2008, New-York University, United States. pp.684-691. ⟨lirmm-00286409⟩
  • Chien Chern Cheah, Chao Liu, Jean-Jacques E. Slotine. Adaptive Vision based Tracking Control of Robots with Uncertainty in Depth Information. ICRA: International Conference on Robotics and Automation, Apr 2007, Roma, Italy. pp.2817-2822, ⟨10.1109/ROBOT.2007.363898⟩. ⟨lirmm-00366218⟩

Poster communications1 document

  • Pedro Moreira, Chao Liu, Nabil Zemiti, Philippe Poignet. Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model. SKILLS'2011: The International Conference of the European SKILLS Project, Dec 2011, Montpellier, France. 2011, ⟨10.1051/bioconf/20110100066⟩. ⟨lirmm-00779228⟩

Book sections1 document

  • Jing Guo, Chao Liu, Philippe Poignet. Effect of Non-passive Operator on Enhanced Wave-Based Teleoperator for Robotic-Assisted Surgery: First Case Study. New Trends in Medical and Service Robots, Mechanisms and Machine Science (39), pp.1-14, 2016, Human Centered Analysis, Control and Design, 978-3-319-30674-2. ⟨10.1007/978-3-319-30674-2_1⟩. ⟨lirmm-01318919⟩