Yuanqing Wu - IEEE Xplore Author Profile
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Yuanqing Wu

Also published under: Y. Wu

Publications
14
Citations
216
Publications by Year
20062018
Co-Authors:
Show All Co-Authors (25)
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Yuanqing Wu

Also published under: Y. Wu

Affiliation

Department of Industrial Engineering
University of Bologna
Bologna, Italy

Publication Topics

Biography

Yuanqing Wu (M’17) received the B.Sc. degree in mechanical engineering and the Ph.D. degree in mechatronics engineering from Shanghai Jiao Tong University, Shanghai, China, in 2001 and 2009, respectively.,He was first a Research Assistant and later a Research Associate with the Electronic and Computer Engineering Department, Hong Kong University of Science and Technology, Hong Kong. He is currently a Contract Researcher with the Department of Industrial Engineering, University of Bologna, Bologna, Italy. His research interests include kinematic geometry, mechanism theory, parallel robots, geometric control, and geometric algebra computing.(Based on document published on 7 May 2018).
Publications
14
Citations
216
Publications by Year
20062018
Co-Authors:
Show All Co-Authors (25)
Author's Published Works

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Symmetric Subspace Motion Generators

Yuanqing Wu;Marco Carricato

IEEE Transactions on Robotics
Year: 2018 | Volume: 34, Issue: 3 | Journal Article |
Cited by: Papers (16)
When moving an object endowed with continuous symmetry, an ambiguity arises in its underlying rigid body transformation, induced by the arbitrariness of the portion of motion that does not change the overall body shape. The functional redundancy caused by continuous symmetry is ubiquitously present in a broad range of robotic applications, including robot machining and haptic interface (revolute s...Show More

Symmetric Subspace Motion Generators

Yuanqing Wu;Marco Carricato

Year: 2018 | Volume: 34, Issue: 3 | Journal Article |

Unified GPU-Parallelizable Robot Forward Dynamics Computation Using Band Sparsity

Yajue Yang;Yuanqing Wu;Jia Pan

IEEE Robotics and Automation Letters
Year: 2018 | Volume: 3, Issue: 1 | Journal Article |
Cited by: Papers (1)
This letter proposes a unified GPU-parallelizable approach for robot forward dynamics (FD) computation based on the key fact that parallelism of prevailing FD algorithms benefits from the essential band sparsity of the joint space inertia (JSI) matrix or its inverse. The existing FD algorithms are categorized into three classes: direct JSI algorithms, propagation algorithms, and constraint force a...Show More

Unified GPU-Parallelizable Robot Forward Dynamics Computation Using Band Sparsity

Yajue Yang;Yuanqing Wu;Jia Pan

Year: 2018 | Volume: 3, Issue: 1 | Journal Article |

Parallel Dynamics Computation Using Prefix Sum Operations

Yajue Yang;Yuanqing Wu;Jia Pan

IEEE Robotics and Automation Letters
Year: 2017 | Volume: 2, Issue: 3 | Journal Article |
Cited by: Papers (10)
A new parallel framework for fast computation of inverse and forward dynamics of articulated robots based on prefix sums (scans) is proposed. We first re-investigate the well-known recursive Newton-Euler formulation for robot dynamics and show that the forward-backward propagation process for robot inverse dynamics is equivalent to two scan operations on certain semigroups. Then, we showed that st...Show More

Parallel Dynamics Computation Using Prefix Sum Operations

Yajue Yang;Yuanqing Wu;Jia Pan

Year: 2017 | Volume: 2, Issue: 3 | Journal Article |

POE-Based Robot Kinematic Calibration Using Axis Configuration Space and the Adjoint Error Model

Cheng Li;Yuanqing Wu;Harald Löwe;Zexiang Li

IEEE Transactions on Robotics
Year: 2016 | Volume: 32, Issue: 5 | Journal Article |
Cited by: Papers (90)
The product of exponential model based robot calibration approach eliminates parameter discontinuity and simplifies coordinate frame setup, but demands extra effort to normalize twist coordinates and differentiate parameter-varying exponential maps. In this paper, we show that such an endeavor can be exempted by respecting the nonlinear geometry of the joint axis configuration space (ACS), the set...Show More

POE-Based Robot Kinematic Calibration Using Axis Configuration Space and the Adjoint Error Model

Cheng Li;Yuanqing Wu;Harald Löwe;Zexiang Li

Year: 2016 | Volume: 32, Issue: 5 | Journal Article |

Inversion Symmetry of the Euclidean Group: Theory and Application to Robot Kinematics

Yuanqing Wu;Harald Löwe;Marco Carricato;Zexiang Li

IEEE Transactions on Robotics
Year: 2016 | Volume: 32, Issue: 2 | Journal Article |
Cited by: Papers (35)
Just as the 3-D Euclidean space can be inverted through any of its points, the special Euclidean group SE(3) admits an inversion symmetry through any of its elements and is known to be a symmetric space. In this paper, we show that the symmetric submanifolds of SE(3) can be systematically exploited to study the kinematics of a variety of kinesiological and mechanical systems and, therefore, have m...Show More

Inversion Symmetry of the Euclidean Group: Theory and Application to Robot Kinematics

Yuanqing Wu;Harald Löwe;Marco Carricato;Zexiang Li

Year: 2016 | Volume: 32, Issue: 2 | Journal Article |

Dynamics analysis of hybrid parallel robot

Y. Wu;Z. Fu;J. N. Xu;W. X. Yan;W. H. Liu;Y. Z. Zhao

2015 International Conference on Fluid Power and Mechatronics (FPM)
Year: 2015 | Conference Paper |
Cited by: Papers (3)
This work focused on dynamics analysis and simulation of the 5-DOF hybrid parallel robot. A hybrid parallel robot is proposed in this study. Two serial rotation joints were added to the delta robot, which improved the robot degrees of freedom to 5. Based on energy equation, dynamics equation was deduced. The hybrid parallel robot model was built in Solidworks and then imported into ADMAS to do the...Show More

Dynamics analysis of hybrid parallel robot

Y. Wu;Z. Fu;J. N. Xu;W. X. Yan;W. H. Liu;Y. Z. Zhao

Year: 2015 | Conference Paper |

Comparative study of robot kinematic calibration algorithms using a unified geometric framework

Yuanqing Wu;Cheng Li;Jing Li;Zexiang Li

2014 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2014 | Conference Paper |
Cited by: Papers (8)
In this paper, we conduct a comparative study of three well known robot kinematic calibration algorithms, namely the Denavit-Hartenberg (DH) parameter algorithm, the product of exponentials (POE) algorithm, and the local POE (LPOE) algorithm. To cope with distinct formulations associated to different algorithms, we propose a unified geometric framework which is based on POE kinematics and a novel ...Show More

Comparative study of robot kinematic calibration algorithms using a unified geometric framework

Yuanqing Wu;Cheng Li;Jing Li;Zexiang Li

Year: 2014 | Conference Paper |

Identifiability and improvement of adjoint error approach for serial robot calibration

Cheng Li;Yuanqing Wu;Zexiang Li

2014 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2014 | Conference Paper |
Cited by: Papers (9)
In this paper, we first analyze the identifiability of POE based Adjoint error approach. By carefully examining the linear dependence between calibration Jacobian columns, it is proved that joint offsets and Adjoint errors cannot be identified simultaneously, and the maximum dimension of identifiable parameters is 4r + 2t + 6. Some more scenarios are considered to augment the Adjoint error approac...Show More

Identifiability and improvement of adjoint error approach for serial robot calibration

Cheng Li;Yuanqing Wu;Zexiang Li

Year: 2014 | Conference Paper |

Cartesian stiffness evaluation of a novel 2 DoF parallel wrist under redundant and antagonistic actuation

Cheng Li;Yuanqing Wu;Jiachun Wu;Weiyi Shi;Dan Dai;Jinbo Shi;Zexiang Li

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2013 | Conference Paper |
Cited by: Papers (1)
In this paper, we present an experimental evaluation of the Cartesian stiffness of a novel parallel wrist under redundant and antagonistic actuation. The mechanism in consideration is Omni-Wrist V (OW5), a two degrees-of-freedom (DoF) parallel mechanism redundantly actuated by three subchains. We first give a brief review of its kineto-statics and derive its reduced Cartesian stiffness model. To i...Show More

Cartesian stiffness evaluation of a novel 2 DoF parallel wrist under redundant and antagonistic actuation

Cheng Li;Yuanqing Wu;Jiachun Wu;Weiyi Shi;Dan Dai;Jinbo Shi;Zexiang Li

Year: 2013 | Conference Paper |

Exponential submanifolds: A new kinematic model for mechanism analysis and synthesis

Yuanqing Wu;Guanfeng Liu;Harald Löwe;Zexiang Li

2013 IEEE International Conference on Robotics and Automation
Year: 2013 | Conference Paper |
Cited by: Papers (9)
This paper aims to develop a new kinematic model, the exponential submanifolds (EXPSs) eΩ with Ω a subspace of se(3) (the Lie algebra of the special Euclidean group SE(3)), for mechanism analysis and synthesis. The EXPSs provide perfect models for many global motion types appearing in the past mechanisms, robotics and kinesiology literatures which cannot be modeled as the well known Lie subgroups ...Show More

Exponential submanifolds: A new kinematic model for mechanism analysis and synthesis

Yuanqing Wu;Guanfeng Liu;Harald Löwe;Zexiang Li

Year: 2013 | Conference Paper |

Quotient kinematics machines: Concept, analysis and synthesis

Yuanqing Wu;Hong Wang;Zexiang Li;Yunjiang Lou;Jinbo Shi

2010 IEEE International Conference on Robotics and Automation
Year: 2010 | Conference Paper |
Cited by: Papers (2)
In this paper, we identify a class of structurally distinguished machines, called quotient kinematics machines (QKM). A QKM realizes a motion task, typically characterized by a subgroup G of rigid transformation group SE(3), through coordinated motion of two mechanisms called modules. One is referred to as a subgroup module H and the other a complementary or quotient module G/H of H in G. Since QK...Show More

Quotient kinematics machines: Concept, analysis and synthesis

Yuanqing Wu;Hong Wang;Zexiang Li;Yunjiang Lou;Jinbo Shi

Year: 2010 | Conference Paper |

Improved and modified geometric formulation of POE based kinematic calibration of serial robots

Yunjiang Lou;Tieniu Chen;Yuanqing Wu;Zhibin Li;Shilong Jiang

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2009 | Conference Paper |
Cited by: Papers (25)
The authors proposed in this paper an improved geometric formulation of POE (product of exponential) based kinematic calibration of serial robots. We use both joint offset-free formulation and adjoint transformation errors of joint screws, and apply it to the calibration of an elbow manipulator. Our formulation explains why the original POE calibration always fails with the existence of joint offs...Show More

Improved and modified geometric formulation of POE based kinematic calibration of serial robots

Yunjiang Lou;Tieniu Chen;Yuanqing Wu;Zhibin Li;Shilong Jiang

Year: 2009 | Conference Paper |

Finite Motion Validation for Parallel Manipulators: A Differential Geometry Approach

Yuanqing Wu;Han Ding;Jian Meng;Zexiang Li

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2006 | Conference Paper |
Cited by: Papers (1)
Type synthesis of low (3-5) degree of freedom (Dof) spatial parallel manipulators is well documented in literature. Recent approaches such as proposed in J.M. Herve and F. Sparacino (1991) - Z. Huang and Q.C. Li (2003) showed some systematic design capability, but did not develop an equally effective means to check for prescribed finite motion. In this paper, we studied the finite motion set of pa...Show More

Finite Motion Validation for Parallel Manipulators: A Differential Geometry Approach

Yuanqing Wu;Han Ding;Jian Meng;Zexiang Li

Year: 2006 | Conference Paper |

Interpolated Rigid-Body Motions and Robotics

J.M. Selig;Yuanqing Wu

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2006 | Conference Paper |
Cited by: Papers (6)
This work looks at several problems concerned with interpolating rigid-body motions and their application in robotics. Two recently proposed interpolation methods are shown to produce the same results. We also discuss how it might be possible to control a robot in such a way as to follow one of these interpolated motionsShow More

Interpolated Rigid-Body Motions and Robotics

J.M. Selig;Yuanqing Wu

Year: 2006 | Conference Paper |

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