### Faculty

Professor of School of System Design and Intelligent Manufacturing, SUSTech

Chairman of SZ DJI Technology Co., Ltd. (DJI)

Chairman of Googol Technology (HK) Limited

Professor Li Zexiang is mainly engaged in robotics (multi-fingered robotic manipulation, non-holonomic motion planning, differential geometric methods in parallel robots and autonomous aircraft research, etc.), motion control, mechanism science, and manufacturing science (workpiece localization and inspection, 3C industry automation research, etc. Professor Li published more than 200 papers in renowned international journals and conferences, and 4 monographs (the first of which becomes the number one graduate robotics textbook). His pioneering work in the field of non-holonomic motion planning have been highly cited in robotic research and industry. In 2007, Professor Li Zexiang was elected to IEEE Fellow and was the chairman of the 2011 International Robotics and Automation Conference. In 2015, Professor Li published gave a Keynote speech at the International Robotics and Automation Conference (ICRA), and in 2016, gave a plenary talk at the International Robotics and Systems Conference (IROS). In 2019, he won the IEEE Robotics and Automation Award. This award is one of the most prestigious awards in the global engineering and technology field. Professor Li Zexiang and his student Mr. Wang Tao are the first Chinese scholars and entrepreneurs to win the award.

**Research Interests：**

- Robot manipulation; design and control of multiﬁngered robotic hands; motion planning; real-time systems; and parallel robots.
- Motion control; geometric methods of nonlinear control systems; geometric mechanics.
- Machine tool control systems; computer-aided setups & dimensional inspections; precision machining.

**Education Background：**

- Ph.D., Electrical Engineering and Computer Science, University of California, Berkeley (1989)
- M.A., Mathematics, University of California, Berkeley (1989)
- M.S., Electrical Engineering and Computer Science, University of California, Berkeley (1986)
- B.S.(Honor) Electrical Engineering and Economics, Carnegie-Mellon Univ. (1983)
- Attended Central-South University of Technology, Changsha, 9/1978 to 5/1979.

**Working Experience：**

- June 2004 - Present: Professor, Dept of Electrical and Electronic Eng. HKUST
- Aug. 1992- May 2004: Associate Professor/Senior Lecturer, Dept of Electrical and Electronic Eng. HKUST
- Nov. 2002, Guest Chair Professor, School of Mechanical Eng., Shanghai Jiaotung University.
- April 2003, Adjunct professor, Harbin Institute of Technology
- Oct. 2000: Visiting Prof., Institute of Automation, Chinese Academy of Sciences
- July 1998: Adjunct Prof., Central-South Univ. of Technology.
- April 1998: Adjunct Prof., Dept. of Automation Eng. & Dept. of Mechatronic Eng., National Univ. of Defence Technology.
- May 2002: Honorary Professor, China University of Electronic Science and Technology, Chengdu.
- May 2001: Adjunct Professor, South-West Jiaotung University, Chengdu. • April 1998: Guest Prof., Dept. of Mech. Eng. Luoyan Institute of Technology.
- July 1999 - Present, Co-founder and Chairman, Googol Technology (HK & SZ) Ltds
- June, 1993 - Sept. 1993: Visiting Professor, Univ. of California at Berkeley.
- Jan. 1990 - Aug. 1992: Assist. Prof., Robotics Research Lab., New York University.
- Aug. 1989 - Jan. 1990: Research Scientist, AI Lab. MIT.
- Jan. 1983 - Aug. 1989: Teaching & Research Assistant, Dept. of EECS, Univ. of Calif. at Berkeley.
- Summer, 1983 & 1985, Research Engineer, Leg Lab, Robotics Institute, CarnegieMellon University. • Summer, 1981, Designer and Programmer, Dept. of EE, ALCOA, PA, USA.

**Awards**

- 2019：IEEE Robotics and Automation Award
- Outstanding Contribution Award, Aug. 2008. Division of Mechanical Engineering, National Natural Science Foundation of China.
- IEEE Fellow, Jan. 2008. For fundamental contributions to robotic manipulation, nonholonomic motion planning and workpiece localization.
- Instructor for the First- and Second-runner up teams, Robocon 2010.
- Instructor for the Championship Team (HKUST Fiery Dragon), Robocon’2008, Hong Kong. The team also received the Best Team Spirit Award.
- Instructor for the 2nd Runner-up Team (HKUST Hermes), Robocon’2008, Hong Kong.
- Instructor for the Championship Team (HKUST Holy Flame), Robocon’2005, Hong Kong. The team also received the Best Engineering Design Award.
- Instructor for the 2nd Runner-up Team, Robocon’2005, Hong Kong. The team also received the Best Artistic Design Award.
- Hong Kong Young Scholar Research Collaboration Grant Award, China Natural Science Foundation, 2000.
- LEAD Award, AMI of HKUST, SME, 2001.
- 1998: Finalist for Best Paper Award, ASME Design for Manuf. Conf., Atlanta, US.
- 1997: National Natural Science Award (3rd class), China.
- 1990: Research Initiation Award, National Science Foundation, USA.
- 1989: E.I. Jury Award for excellence in systems research, U.C. Berkeley.
- 1984-1988: Dept. Scholarships, U. C. Berkeley.
- 1983 -1984: Early A. Anthony Fellowship, U. C. Berkeley.
- 1983: University Scholar, Carnegie-Mellon University.
- 1979-1983: ALCOA Foundation Fellowship.

**Selected Publications**

**Books:**

1. Y.J. Lou and **Z.X. Li**, Geometric Methods in Robotics and Mechanism Research: Theory and Applications, LAP Lambert Academic Publishing, ISBN: 978-3-8433-7617-4, editor. 2011.

2. R. Murray, **Z.X. Li** and S. Sastry, A Mathmematical Introduction to Robotic Manipulation, (with R. Murray and S. Sastry), CRC Press, March, 1994. ISBN 0-8493-7981-4.

(456 pages). (Translated into Chinese and Japanese. Widely adopted as the graduate textbook by major universities in North America and Asia).

3. **Z.X. Li** and J. Canny, Nonholonomic Motion Planning, editor, Kluwer Academic Publishers, 1992, ISBN 0-7923-9275-2. (445 pages).

4. S. Cong and **Z.X. Li**, Applied Motion Control, Electronic Science Press, China, 2005.

**Chapters in Books:**

5. **Z.X. Li**, G.F. liu, J. Meng, Y.Q. Wu and H. Ding, ”A differential geometric theory for parallel mechanism synthesis”, in Progress in Modern Mechanism Science, edited by H.J. Zhou and F. Gao, China Higher Education Press, 2007. ISBN 978-7-04-020431-5.

6. L. Gurvits and **Z.X. Li**, “Smooth time-periodic solutions for nonholonomic motion planning”, in Nonholonomic Motion Planning, edited by Z.X. Li and J.F. Canny, Kluwer Academic Publishers, 1992.

7. C. Fernandes, L. Gurvits, and **Z.X. Li**, “Attitude control of a space platform/manipulator system using internal motion”, in Space Robotics: Dynamics and Control, edited by Y. S. Xu and T. Kanade, Kluwer Academic Publishers, Dec. 1991.

8. C. Fernandes, L. Gurvits and **Z.X. Li**, “Optimal nonholonomic motion planning for a falling cat”, in Nonholonomic Motion Planning, edited by Z.X. Li and J. F. Canny, Kluwer Academic Publishers, 1992.

9. **Z.X. Li** and S. Sastry, “Dextrous robot hands: several important issues”, in Dextrous Robot Hands, edited by S.T. Venkataraman and T. Iberall, Springer-Verlag., pp.154-186, 1989.

10. **Z.X. Li** and S. Sastry, “A unified approach for the control of multifingered robot hands”, in Dynamics and Control of Multibody Systems, edited by J. Marsden, P.S. Krishnaprasad and J.C. Simo, American Mathematical Society, 1989, pp. 217-240.

11. **Z.X. Li**, P. Hsu and S. Sastry, “On Grasping and coordinated manipulation with multifingered robotic hands”, in Robot Control: Dynamics, Motion Planning and Analysis, edited by M.W. Spong, F.L. Lewis and C.T. Abdallah, IEEE Press, 1991.

**Referred Full-Length Class-A Journal Papers:**

12. Yunjiang Lou, Hao Meng, Jiangzhao Yang, **Zexiang Li**, Jian Gao, Xin Chen, “Task Pola Coordinate Frame based Contouring Control of Biaxial Systems”, IEEE Transactions on Industrial Electronics, 61(7): 3490-3501, Jul 2014.

13. Yunjiang Lou, Yongsheng Zhang, Ruining Huang, Xin Chen, and **Zexiang Li**, “Optimization Algorithms for Kinematically Optimal Design of Parallel Manipulators”, IEEE Trans. on Automation Science and Engineering, 11(2): , 2014.

14. Bin Liao, Yunjiang Lou, and **Zexiang Li**, “Kinematics and optimal design of a novel 3-DoF parallel manipulator for pick-and-place applications”, International Journal of Mechatronics and Automation, 3(3): 181-190, 2013.

15. Zhibin Li, Yunjiang Lou, Yongsheng Zhang, Bin Liao, and **Zexiang Li**, “Type Synthesis, Kinematic Analysis and Optimal Design of a Novel Class of Schönflies-Motion Parallel Manipulators”, IEEE Trans. on Automation Science and Engineering, 10(3):674-686, July, 2013.

16. Jiangang Li, Tinghua zhang, **Zexiang Li**. “An adaptive off-line NURBS interpolator for CNC machining”. International journal of advance manufacture technology, Volume 63, Issue 5 (2012), Page 719-729.

17. Jiangang Li, Manman Qiu, Tinghua Zhang, **Zexiang Li**.“ A practical real-time NURBS curve interpolator for CNC machining”. Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science. 2012, 226(4), 1068-1083.

18. Zhou Lei, Li Jiangang, Zhang Wennong, **Li Zexiang**,“ Application of speed observer for XY-stage of wire bonder”. Advanced Materials Research, v 655-657, p 1342-1347, 2013, Engineering Solutions for Manufacturing Processes.

19. Yunjiang Lou, Zhaoqi Shang, Ruining Huang, **Zexiang Li,** “H-infinity Robust Control of a LineaMotor Actuated Parallel XY Stage”, Advanced Science Letters, 15(1): 469-474(6), 2012.

20. Y.Q. Wu, H. Wang and **Z.X. Li,** ”Quotient Kinematics Machines: Concept, Analysis, and Synthesis”, ASME Journal of Mechanisms and Robotics, pp. 041004-1-11. November 2011, Vol. 3.

21. J.Z. Yang, **Z.X. Li**, ”A Novel Contour Error Estimation for Position Loop-Based Cross-Coupled Control”, IEEE/ASME Transactions on Mechatronics, 2010.

22. J.J. Xu, John Koo and **Z.X. Li**,”Sampling-based Finger Gaits Planning for Multifingered Robotic Hand”, Autonomous Robots, Dec. 2009.

23. J. Meng, D.J. Zhang and **Z.X. Li**, ”Assembly problem of overconstrained and clearancefree parallel manipulators”, ASME Journal of Mechanical Design, Jan. 2009. Vol. 131, pp. 011013-1:9.

24. J.J. Xu and **Z.X. Li**, ” A Kinematics Model of Finger Gaits by Multifingered Hand as Hybrid Automaton”, IEEE Transactions on Automation Science and Engineering, Vol. 5, No. 3, pp.467-479, July, 2008.

25. Y.J. Lou, G.F. Liu and **Z.X. Li**, ”Randomized Optimal Design of Parallel Manipulators”, IEEE Transactions on Automation Science and Engineering, Vol. 5, No. 2, 223-233, April, 2008.

26. J. Meng, G.F. Liu and **Z.X. Li**, ”A geometric theory for analysis and synthesis of sub-6 DoF parallel manipulators”, IEEE Transactions on Robotics, Vol. 23, No. 4, pp. 625-649, Aug. 2007.

27. Z.H. Xiong, M. Wang and **Z.X. Li**, ”Near-optimal Probing Strategy for Workpiece Localization”, IEEE Trans. on Robotics and Automation, Vol. 20, No. 4, Aug. 2004, pp. 668-676.

28. G.F. Liu, J.J. Xu and **Z.X. Li**, “On quality functions for grasp synthesis, fixture planning and coordinated manipulation”, IEEE Trans. on Automation Science and Engineering, Vol. 1, No. 2, pp.146-162, Oct. 2004.

29. G.F. Liu, J.J. Xu and **Z.X. Li**, “On geometric algorithms for real-time grasping force optimization”, IEEE Trans. on Control System Technology, Vo. 12, No. 6, pp. 843-859, Nov. 2004.

30. G.F. Liu, and **Z.X. Li**, “Real-time grasping force optimization for multifingered manipulation: Theory and experiments”, IEEE Trans. on Mechatronics , pp. 65-77, Vol. 9, No. 1, March 2004.

31. G.F. Liu, Y.J. Lou and** Z.X. Li,** “Singularities of parallel manipulators: A geometric treatment. IEEE Trans. on Robotics and Automation, Vol. 19, No. 4, pp.579-594, Aug. 2003.

32. H. Chen and **Z.X. Li,** “Dynamics and control of parallel manipulators with redundant actuation”, IEEE Trans. on Mechatronics, Vol.8, No. 4, Dec. 2003.

33. Z.H. Xiong and** Z.X. Li,** “Probe radius compensation of workpiece localization”, ASME Trans. on Manufact. Science and Technology, Feb. 2003, 125(1):100-104.

34. Xiong Z.H. and **Z.X. Li**, ”On the Discrete Symmetric Localization Problem”, International Journal of Machine Tools & Manufacture, July 2003, 43(9):863-870.

35. G.F. Liu and **Z.X. Li,** “A unified geometric approach to modeling and control of constrained mechanical systems”, IEEE Trans. on Robotics and Automation, Vol. 18, No. 4, pp. 574-587, Aug. 2002.

36. K. Choi, S.L. Jiang and **Z.X. Li**, “Spatial stiffness realization with parallel springs using geometric parameters”, IEEE Trans. on Robotics and Automation, Vol. 18, No. 3, pp. 274-284, June, 2002.

37. J. B. Gou, Y.X. Chu and **Z.X. Li**, ”A geometric method for establishment of datum reference frames”, IEEE Trans. on Robotics and Automation, Vol. 16, No. 6, pp. 797-806, Dec. 2000.

38. L. Han, J. Trinkle and **Z.X. Li,** “Grasp analysis as linear matrix inequality problems”, IEEE Trans. on Robotics and Automation, in Vol. 16, No. 6, pp. 663-674, Dec. 2000.

39. Q. Shi, F. Lewis and **Z.X. Li,** “Centralizaed formulation for complete dynamic modelling of robots”, Journal of Robotic Systems, Vol. 17, No. 2, 2000.

40. Q. Shi, F. Lewis and **Z.X. Li**, “A simplified approach of computing robot Jacobians”, Journal of Robotic Systems, 2001.

41. J. B. Gou, Y.X. Chu and **Z.X. Li**, ”A geometric theory of form, profile and orientation tolerances”, Precision Engineering, Vol. 23, pp.79-93, 1999.

42. Y.X. Chu, J.B. Gou and **Z.X. Li,** ”On the hybrid localization/envelopment problems”, International Journal of Robotics Research, Vol. 18, No. 5, pp.491-501, May 1999.

43. Y.X. Chu, J.B. Gou and **Z.X. Li,** ”Workpiece localization algorithms: Performance evaluation and reliability analysis”, SME Journal of Manufacturing Systems, Vol. 18, No. 2, pp.113-126, 1999.

44. F. Lewis, T. Woo, L.X. Wang and** Z.X. Li**, “Deadzone compensation in motion control systems using adaptive fuzzy logic control”, IEEE Trans. on Control Systems Technology, Vol. 7, No. 6, 99.731-742, Nov. 1999.

45. J.B. Gou, Y.X. Chu and **Z.X. Li,** “On the symmetric localization problem”, IEEE Trans. on Robotics and Automation, Vol. 14, No. 4, Aug. 1998, pp. 533-540.

46. **Z.X. Li**, J.B. Gou and Y.X. Chu, “Geometric algorithms for workpiece localization”, IEEE Trans. on Robotics and Automation, Vol. 14, No. 6, pp.864-878, 1998.

47. C. Fernandes, L. Gurvits and **Z.X. Li**, “Near-optimal nonholonomic motion planning for a system of coupled rigid bodies”, IEEE Trans. on Automatic Control, Vol. 39, pp.450-463, March, 1994.

48. C. Fernandes, L. Gurvits and **Z.X. Li**, “Attitude control of a space platform/manipulator system using internal motion”, International Journal of Robotics Research (IJRR), Vol.13, Number 4, pp.289-304, August, 1994.

49. **Z.X. Li**, “Geometric considerations of robot kinematics”, International Journal of Robotics and Automation, Vol.5, No. 3, pp. 139-145, 1990.

50. **Z.X. Li** and J. Canny, “Motion of two rigid objects with rolling constraints”, IEEE Trans. on Robotics and Automation, Vol. RA2-06, pp.62-72, 1990.

51. **Z.X. Li**, P. Hsu and S. Sastry, “On grasping and coordinated manipulation by a multifingered robot hand”, International Journal of Robotics Research, Vol. 8:4, pp. 33-50, 1989.

52.** Z.X. Li** and S. Sastry, “Task oriented optimal grasping by a multifingered robot hand”, IEEE Trans. on Robotics and Automation, Vol. RA.2-14, No. 1, pp. 32-44, 1988.

53. **Z.X. Li** and S. Sastry, “Conditioned invariant subspaces, disturbance decoupling and solutions of rational matrix equations”, International Journal of Control, Vol.43 No.1, pp. 91-108, 1986.

**Other Referred Journal Papers:**

54. J.G. Li, T.H. Zhang and **Z.X. Li,** ”A complete self-adaptive NURBS interpolator”, Chinese Journal of Mechanical Engineering, Vol. 19(9), pp. 1095-1099, 2008. (In Chinese)

55. J.B. Gou, Y.X. Chu, H. Wu and **Z.X. Li**, “Research issues in localization of symmetric workpieces”, Journal of Mechanical Engineering, Vol. 36, No. 3, pp.18-21, March, 2000.

56. Z.Q. Qin, X.F. Zhao, **Z.X. Li** and X.L. Xiong, “Grasping force analysis and real-time control optimization in multifingered manipulation”, Journal of Mechanical Engineering, Vol. 36, No.3, pp.8-12, March, 2000.

57. Z.Q. Qin, **Z.X. Li** and X.L. Xiong, “Coordinated motion generation for multifingered manipulation with rolling contact”, Journal of Mechanical Engineering, Vol. 36, No. 2, pp.85-90, Feb. 2000.

58. Y.X. Chu, J.B. Gou, H. Wu and **Z.X. Li,** “Research on hybrid localization/envelopment problems”, Journal of Mechanical Engineering, Vol.36, No. 1, pp.47-51, 2000.

59. Z.Q. Qin, X.L. Xiong and **Z.X. Li** “Hierarchical control of robot multifingered multifingered manipulation”, ACTA Automatica SINICA , Vol. 25, No. 5, pp.590-597, Sept. 1999.

60. Y.X. Chu, J.B. Gou and **Z.X. Li**, “Performance analysis of geometric algorithms for workpiece localization”, International Journal of Intelligent Control and Systems, Vol. 2, No. 1, pp.73-92, 1998.

**Referred Conference Papers:**

62. Guyue ZHOU, Jiaxin YE, Wei REN, Tao WANG, **Zexiang Li**. “On-Board InertialAssisted Visual Odometer on an Embedded System.” In Robotics and Automation (ICRA), 2014 IEEE International Conference on. IEEE, 2014.

63. Cheng Li, Yuanqing Wu, **Zexiang Li.** “Identifiability and Improvement of Adjoint Error Approach for Serial Robot Calibration.” In Robotics and Automation (ICRA), 2014 IEEE International Conference on. IEEE, 2014.

64. Yuanqing Wu, Cheng Li, Jing LI, **Zexiang Li**. “Comparative Study of Robot Kinematic Calibration Algorithms using a Unified Geometric Framework.” In Robotics and Automation (ICRA), 2014 IEEE International Conference on. IEEE, 2014.

65. Li, Cheng, Yuanqing Wu, Jiachun Wu, Weiyi Shi, Dan Dai, Jinbo Shi, and **Zexiang Li**. “Cartesian stiffness evaluation of a novel 2 DoF parallel wrist under redundant and antagonistic actuation.” In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp. 959-964. IEEE, 2013.

66. Wu, Yuanqing, Guanfeng Liu, Harald Lowe, and Z**exiang Li.** “Exponential submanifolds: A new kinematic model for mechanism analysis and synthesis.” In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp. 4177-4182. IEEE, 2013.

67. Sun, Ke, Yun Yu, Wancheng Zhou, Guyue Zhou, Tao Wang, and **Zexiang Li.** “A low-cost and robust optical flow CMOS camera for velocity estimation.” In Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on, pp. 1181-1186. IEEE, 2013.

68. Zheng Wang, Yunjiang Lou, Yue Liu, and** Zexiang Li,** “An Open Control System Architecture with an On-line Velocity Filter for Industrial Robots”, In Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 2201-2206, 2012.

69. Yunqiang Zhang, Ruining Huang, Yunjiang Lou, and **Zexiang Li**, “Dynamics based Time-Optimal Smooth Motion Planning for the Delta Robot, In Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 1789-1794, 2012.

70. J. Y. Song and **Z.X. Li,** ”Sequential Scan Matching with Sensor Order”, In Proc. of 2012 IEEE Intl. Conference on Robotics and Automation, St Paul, Minnesota, USA, May, 2012 (Accepted).

71. Yuanqing Wu, **Zexiang Li** and Jinbo Shi, ”Geometric properties of zero-torsion parallel kinematics machines”, Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on , pp. 2307 -2312, 2010.

72. J.B. Shi, **Z.X. Li** and Yuanqing Wu, ”A New Quantitative Performance Index for Low Mobility Parallel Kinematic Manipulators’ Accuracy”, 2011 IEEE Intl. Conf. on Robotics and Automation (ICRA’11), pp. 2745-2750, Shanghai, China. (Accepted).

73. Hong Wang, Jiangzhao Yang and **Z.X. Li**, ”Application of Convex Optimization in Integrated Design of Five-bar Mechanism”, 10th World Congress on Intelligent Control and Automation ( WCICA’11), 2011. (Accepted).

74. Jiangzhao Yang, **Z.X. Li,** Hong Wang, Yunjiang Long and Zhili Long, ”Direct Contour Error Compensation of Biaxial Contouring Control Systems Based on a Global Fixed Coordinate Frame”, 10th World Congress on Intelligent Control and Automation ( WCICA’11), 2011. (Accepted).

75. Jinbo Shi, Chunhua Yu and **Z.X. Li**, ”Kinematic Model Identification of Planar Delta Manipulator Using Random Levenberg-Marquardt Algorithm”, 10th World Congress on Intelligent Control and Automation ( WCICA’11), pp.1097-1102, 2011.

76. S.W. Winnie Leung, **Z.X. Li**, and Ling Shi, ”Modeling and Development of Dynamic Simulator for Flexible Parallel Manipulator”, IEEE International Conference on Control and Automation, Pages: 989-994, Christchurch, New Zealand, December 2009

77. Y.Q. Wu, H. Wang, **Z.X. Li**, Y.J. Lou and J.B. Shi, ”Quotient Kinematics Machines: Concept, Analysis and Synthesis”, IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 2010, pp.2739 -2744.

78. Y.J. Lou, W. Gong,**Z.X. Li**,J.J. Zhang and G.L. Yang, ”Natural Frequency Based Optimal Design of a Two-Link Flexible Manipulator”, 2009 IEEE Intl. Conf. on Robotics and Automation, Kobe, Japan. pp. 1768-1773.

79. Y.Q. Wu, **Z.X. Li**, H. Ding, Y.J. Lou, Quotient kinematics machines: Concept, analysis and synthesis, In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pp. 1964-1969, 2008

80. J. Shi, X.R. Zhu and **Z.X. Li**, ”New method for kinematic analysis of a hybrid manipulator”, International Conference on information and Automation, Pages: 207-211, 2009

81. J.Z. Yang and **Z.X. Li,** ”A Novel Contour Error Estimation in Biaxial Contouring Control”, IEEE International Conference on Decision and Control, Pages: 7545-7550, Shanghai, China, December 2009

82. Y.J. Lou, W. Gong, J.B. Shi, and **Z.X. Li**, An integrated structure/control design of mechatronics systems, In Proceedings of the 7th World Congress on Intelligent Control and Automation, Chongqing, pp. 376-381, 2008

83. J.G. Li, Z. Lei, T.H. Zhang and **Z.X. Li**. A real-time cubic parametric curve interpolations for CNC systems. The 7th World Congress on Intelligent Control and Automation, Chongqing, China, 2008.

84. J.Z. Yang, D.J. Zhang and **Z.X. Li**, ”Position loop-based cross-coupled”, World Congress on Intelligent Control and Automation (WCICA), Chongqing, China, June, 2008.

85. D.J. Zhang, **Z.X. Li** and J.Z. Yang, ” Tracking controller design by relay method”, World Congress on Intelligent Control and Automation (WCICA), Chongqing, China, June, 2008.

86. J.Z. Yang, YJ.J. Xu and **Z.X. Li,** ”Two-degree-of-freedom based cross-coupled control for high-accuracy tracking systems”, Proc. of 3rd IEEE Conf. on Automation Science and Engineering (Case’07), Scottsdale, AZ, 2007, pp. 950-955.

87. Y. Lu, J.J. Xu and **Z.X. Li**, ”Development and implementation of NURBS interpolators with look-ahead technique”. Proc. of 3rd IEEE Conf. on Automation Science and Engineering (Case’07), Scottsdale, AZ, 2007, pp. 134-138.

88. J.Z. Yang, D.J. Zhang and **Z.X. Li**, ” Modeling and identification for high-speed milling machines”. Proc. of 3rd IEEE Conf. on Automation Science and Engineering (Case’07), Scottsdale, AZ, 2007, pp. 347-351.

89. J.J. Xu, Yu Wang, H. Wang, **Z.X. Li**, Force Analysis of Whole Hand Grasp by Multifingered Robotic Hand, in Proceeding of 2007 IEEE International Conference on Robotics and Automation, pp. 211-216, Rome, Italy.

90. Y.J. Lou, J.G. Li, J.B. Shi,** Z.X. Li,** Development of a Novel 3-DoF Purely Translational Parallel Mechanism, in Proceeding of 2007 IEEE International Conference on Robotics and Automation, pp. 169-174, Rome, Italy.

91. J. Meng, T.H. Zhang, **Z.X. Li,** Overconstraining Problem for Clearance-Free Parallel manipulators, in Proceeding of 2007 IEEE International Conference on Robotics and Automation, pp. 1183-1168, Rome, Italy.

92. J. Meng, H. Wang, **Z.X. Li,** A General Approach for Accuracy Analysis of Parallel Manipulators with Joint Clearance, in Proceeding of 2007 IEEE International Conference on Robotics and Automation, pp. 889-894, Rome, Italy.

93. N. Chen, Y.J. Lou, **Z.X. Li,** ” Adaptive contouring control for high-accuracy tracking system”, IEEE International Conf. on Systems, Man and Cybernetics, Taipei, 2006, pp. 50-55.

94. J.J. Xu, Y.J. Lou and **Z.X. Li**, Hybrid Automaton: A Better Model of Finger Gaits, Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on Oct. 2006 Page(s):4628 - 4633

95. D.J. Zhang, Y.J. Lou and **Z.X. Li,** Geometric Contouring Control on the Smooth Surface, Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on Oct. 2006 Page(s):4496 - 4501

96. Y.J. Lou and **Z.X. Li,** A Novel 3-DoF Purely Translational Parallel Mechanism, Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on Oct. 2006 Page(s):2144 - 2149

97. Y.J. Lou, N. Chen and **Z.X. Li**, Task Space Based Contouring Control of Parallel Machining Systems; Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on Oct. 2006 Page(s):2047 - 2052

98. J.J. Xu, Y.J. Lou and **Z.X. Li,** Grasping Force Optimization for Whole Hand Grasp; Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on Oct. 2006 Page(s):1582 - 1587

99. J.J.Xu, N.Chen, **Z.X. Li**, Kinematic Modelling of Mutlifingered Hand’s Finger Gaits as Hybrid Automaton, in Proceeding of 2005 IEEE International Conference on Intelligent Robots and Systems, pp.3252-3257, Aug 02-06, Edmonton, Alberta, Canada.

100. D.J. Zhang, N.Chen, **Z.X. Li**, A Unified Contouring Control in the Task Space, in Proceeding of 2005 IEEE International Conference on Intelligent Robots and Systems, pp.1569-1574, Aug 02-06, Edmonton, Alberta, Canada.

101. J. Meng, **Z.X. Li,** A General Approach for Accuracy Analysis of Parallel Manipulators with Joint Clearance, in Proceeding of 2005 IEEE International Conference on Intelligent Robots and Systems, pp.790-795, Aug 02-06, Edmonton, Alberta, Canada.

102. Y.Q. Wu, H.Ding, J. Meng, **Z.X. Li,** Lie Theoretical Approach to Synthesizing T(3) Parallel Kinematic Manipulator, in Proceeding of 2005 IEEE International Conference on Intelligent Robots and Systems, pp.1214-1219, Aug 02-06, Edmonton, Alberta, Canada.

103. Y.J. Lou, D.J. Zhang, N.Chen, **Z.X. Li**, Optimal Design of Parallel Manipulators for Maximum Effective Regular Workspace, in Proceeding of 2005 IEEE International Conference on Intelligent Robots and Systems, pp.1208-1213, Aug 02-06, Edmonton, Alberta, Canada.

104. Y.J. Lou, D.J. Zhang, **Z.X. Li**, Optimal Design of a Parallel Machine based on Multiple Criteria, in Proceeding of 2005 IEEE International Conference on Robotics and Automation, pp. 3230-3235, April 18-22, Barcelona, Spain.

105. J.Meng, G.F. Liu, **Z.X. Li**, A Geometric Theory for Synthesis and Analysis of Sub-6 DoF Serial Manipulator Subchains, in Proceeding of 2005 IEEE International Conference on Robotics and Automation, pp. 4727-4732, April 18-22, Barcelona, Spain.

106. J.Meng, G.F. Liu, **Z.X. Li**, A Geometric Theory for Synthesis and Analysis of Sub-6 DoF Parallel Manipulators, in Proceeding of 2005 IEEE International Conference on Robotics and Automation, pp. 2949-2954, April 18-22, Barcelona, Spain.

107. Y.J. Lou, G.F. Liu, and **Z.X. Li**, An LMI-based optimal design of parallel manipulators, in Proceedings of the 11th World Congress in Mechanism and Mechine Science, pp. 2027-2031, 2004.

108. Y.J. Lou, G.F. Liu, J.J. Xu, and **Z.X. Li**, “A general approach for optimal kinematic design of parallel manipulators’, In Proceeding of 2004 IEEE International Conference on Robotics and Automation, pp.3659-3664, 26 April-1 May, 2004.

109. J.J. Xu, G.F. Liu and **Z.X Li**, “On quality functions for grasp synthesis and fixture planning”, Proceedings. ICRA ’04, 2004 IEEE International Conference on Robotics and Automation, Volume 1, 26 April-1 May 2004 Page(s):333 - 338 Vol.1

110. J.J. Xu, G.F. Liu, X. Wang and **Z.X. Li,** A study on geometric algorithms for real-time grasping force optimization, 2003 IEEE/RSJ International Conference Intelligent Robots and Systems, Volume 4, 27-31 Oct. 2003 Page(s):3441 - 3446.

111. J.J. Xu, G.F. Liu, X. Wang and **Z.X. Li,** A study on quality functions for grasp synthesis and fixture planning , 2003 IEEE/RSJ International Conference Intelligent Robots and Systems, Volume 4, 27-31 Oct. 2003 Page(s):3429 - 3434 .

112. G.F. Liu, J.J. Xu and **Z.X. Li**, “Convergence analysis and experimental study of geometric algorithms for real-time grasping force optimization” 2003 IEEE Intl. Conf. on Robotics and Automation (ICRA’03), Taiwan. pp.2683-2688.

113. G.F. Liu, J.J. Xu and **Z.X. Li**, “A comparative study of geometric algorithms for real-time grasping force optimization” ICRA’03, Taiwan. pp.2695-2700.

114. Y.J. Lou, G.F. Liu and **Z.X. Li**, “General geometric algorithms for optimal design of parallel manipulators”, ICRA’03, Taiwan. pp. 1869-1874.

115. Y.K. Yiu and** Z.X. Li,** ”Autocalibration of a parallel manipulator with sensor redundancy”, ICRA’03, Taiwan. pp.3660-3665.

116. G.F. Liu and J.J. Xu and **Z.X. Li**, ”A comparative study of geometric algorithms for real-tie grasping force optimization”, China Control Conference (CCC’03), SanXia, Hubei, China. Aug. 2003.

117. Xiong Z.H, Wang Y. and **Li Z.X.**, ”A Computer-Aided Probing Strategy for Workpiece Localization”, 2003 IEEE International Conference on Robotics and Automation, Taiwan, Sep. 2003. pp.3941-3946.

118. G.F. Liu, J.J. Xu and **Z.X. Li,** “Automatic real-time grasping force determination for multifingered manipulation: Theory and experiments”, Proc. of 2002 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS’02), EPFL Lausanne, Switzerland. pp. 1675- 1680.

119. Z.H. Xiong, and **Z.X. Li**, “On the discrete symmetric localization problem”, Proc. of the IEEE Intl. Conf. on Robotics and Automation, pp. 4161-4166, ICRA’02, Washington DC, USA.

120. G.F. Liu, X.Z. Wu and **Z.X. Li,** “Inertia equivalence principle and adaptive control of redundant parallel manipulators”, pp. 835-840, ICRA’02, Washington DC, USA.

121. G.F. Liu, J. Li , and **Z.X. Li,** “Coordinated manipulation of objects by multifingered robotic hand in contact space and active joint space”, pp. 3743-3748, ICRA’02, Washington DC, USA.

122. Y.K. Yiu and **Z.X. Li**, “Control of parallel mechanisms–A geometric approach”, American Control Conference, 2002. pp. 4720-4725, Anchorage, AK, USA.

123. G.F. Liu, Y.K. Yiu and** Z.X. Li,** “Inertia equivalence principle and adaptive control of parallel manipulators with redundant actuation”, American Control Conference, 2002. pp. 3196-3201, Anchorage, AK, USA.

124. Z.H. Xiong, Y.X. Chu , G. F. Liu , and **Z.X. Li**, “Workpiece localization and computer aided setup system”, Proc. of the 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, (IROS’01), Maui, Hawaii, pp. 1141-1146.

125. G.F. Liu, H. Cheng, Z.F. Xiong, X.Z. Wu, Y.L. Wu and **Z.X. Li,** “Distribution of singularity and optimal control of redundant parallel manipulators”, Proc. of the 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, (IROS’01), Maui, Hawaii, pp. 177-182.

126. H. Cheng, G.F. Liu, Y.K. Yiu, Z.H. Xiong and **Z.X. Li**, “Advantages and dynamics of parallel manipulators with redundant actuation”, Proc. of the 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, (IROS’01), Maui, Hawaii, pp. 171-176.

127. Y.Y. Kiu, H. Cheng, Z.H. Xiong, G.F. Liu and **Z.X. Li**, ‘On the dynamics of parallel manipulators”, ICRA’01, pp. 3766-3371.

128. Z.H. Xiong, and **Z.X. Li**, “Error compensation of workpiece localization”, ICRA’2001, pp. 2249-2254.

129. G.F. Liu, Y.L. Wu , X.Z. Wu, Y.Y. Kuen, and **Z.X. Li**, “Analysis and control of redundant parallel manipulators”, ICRA’2001, 3748-3754.

130. L. Han, **Z.X. Li** and J. Trinkle, “Planning and control of robotic dextrous manipulation”, Proc. of IEEE Intl. Conf. on Robotics and Automation, pp. 263-269, 2000.

131. J.B. Gou, Y.X. Chu and **Z.X. Li**, “A geometric theory of form, orientation and profile tolerances”, 14th World Congress of Intl. Federation of Automatic Control, July, 1999.

132. L. Han, J. Trinkle and **Z.X. Li,** “Grasp analysis as linear matrix inequalities”, IEEE Intl. Conf. on Robotics and Automation (ICRA’99) pp.1261-1268, 1999.

133. J.B. Gou, Y.X. Chu and **Z.X. Li,** “A geometric approach to establishment of datum reference frames”, pp.1436-1441, ICRA’99.

134. S.L. Jiang, K.K. Choi and **Z.X. Li**, “Coordinated motion generation for multifingered manipulation using tactile feedback”, pp.3032-3037, ICRA’99.

135. K.K. Choi and **Z.X. Li,** “Grasping with elastic fingertips”, pp.920-925, ICRA’99.

136. Y.X. Chu, J.B. Gou and **Z.X. Li,** “ A geometric algorithm for hybrid localization, inspection and machinability problems ”, pp.114-119, ICRA’99.

137. Y.X. Chu, J.B. Gou and **Z.X. Li,** “On the hybrid localization/envelopment problem”, 1998 ASME Design for Manuf. Conf., Atlanta, U.S. (Finalist for best paper award). DETC98/DFM-5745.

138. J.B. Gou, Y.X. Chu and **Z.X. Li**, “A geometric theory for formulation of form, orientation and profile tolerances”, 1998 ASME Design for Manuf. Conf., Atlanta, US. DETC98/DFM-5743.

139. J.B. Gou, Y.X. Chu and **Z.X. Li**, “Geometric algorithms for evaluation of form, orientation and profile tolerances”, 1998 ASME Design for Manuf. Conf., Atlanta, US. DETC98/DFM-5744.

140. **Z.X. Li**, Z. Qin, S. Jiang, L. Han, “Coordinated motion generation and real-time grasping force control for multifingered manipulation”, Proc. of IEEE Intl. Conf. on Robotics and Automation, pp.3631-3638, May, 1998.

141. J.B. Gou, Y.X. Chu, H. Wu and **Z.X. Li**, “Geometric formulation of orientation tolerances”, Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA), pp.2728-2733, May, 1998.

142. J.B. Gou, Y.X. Chu and **Z.X. Li**, “A geometric approach to form tolerance formulation and evaluation”, Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA), 3646-3651, May, 1998.

143. K. K. Choi, S. Jiang and **Z.X. Li**, “Multifingered robotic hands: Contact experiments using tactile sensors”, Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA), pp.2268-2273. May, 1998.

144. Y.X. Chu, J.B. Gou and **Z.X. Li**, “On the hybrid workpiece localization/envelopment problems”, Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA), pp.3665-3670. May, 1998.

145. T. Woo, F. Lewis, L.X. Wang and **Z.X. Li**, “A fuzzy system compensator for back-lash”, Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA), pp.181-186. May, 1998.

146. Y.X. Chu, J.B. Gou, H. Wu and **Z.X. Li**, “ Localization algorithms: Performance evaluation and reliability analysis”, Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA), pp.3652-3657, May, 1998.

147. Y.X. Chu, J.B. Gou, B. Kang, and **Z.X. Li**, “Performance analysis of localization algorithms”, Proc. of IEEE Intl. Conf. on Robotics and Automation (ICRA), 1997, pp.1247-1252.

148. L. Han, Y.S. Guan, Q. Shi, **Z.X. Li** and J. Trinkle, “Dextrous manipulation with rolling constraint”, Proc. of IEEE ICRA’97, pp.992-997.

149. B. Kang, J.B. Gou and **Z.X. Li**, “A CAD-based probing and localization method for arbitrarily fixed workpieces”, Proc. of IEEE ICRA’97, pp.1259-1264.

150. T. Woo, F. Lewis, L. Wang and **Z.X. Li**, “Deadzone Compensation in motion control systems using adaptive fuzzy logic control”, Proc. of IEEE ICRA’97, pp.1424-1429.

151. **Z.X. Li**, X.M. Li and M.F. Yeung, “Fundamentals of workpiece localization: Theory and algorithms”, in Proc. of ASME Symposium on Recent Developments in Tolerancing and Metrology for Control and Improvement of Manufacturing Processes, Atlanta, 1996.

152. **Z.X. Li**, J.B. Gou and Y.X. Chu, “Fundamentals of workpiece localization: Theory and algorithm”, in Proc. 2nd Asian Control Conference, Seoul, 1997.

153. **Z.X. Li**, X.M. Li and M.Y. Yeung, “An algebraic algorithm for workpiece localization”, in Proc. of IEEE ICRA’96, pp.152-158, Minneapolis, USA.

154. X. Zhou, Q. Shi and **Z.X. Li**, “Contact localization based on force/torque measurement”, in Proc. of IEEE ICRA’96, pp.1339-1344, Minneapolis, USA.

155. **Z.X. Li,** “On geometrical localization and its applications to manufacturing”, Proc. of the Third International Congress on Industrial and Applied Mathematics (ICIAM 95), Hamburgh, Germany.

156. C. Fernandes, L. Gurvits and **Z.X. Li**, “Attitude control of a space platform/manipulator system using internal motion”, Proc. of IEEE ICRA’92, Nice, France.

157. C. Fernandes, L. Gurvits and **Z.X. Li**, “Optimal nonholonomic motion planning”, Proc. of IEEE ICRA’91, Sacramento, CA., pp.680-685.

158. **Z.X. Li** and S. Sastry“Robot motion planning with nonholonomic constraints”, Proc. 28th IEEE Conf. on Decision and Control, Tampa, Florida, Dec. 1989, pp.211-216.

159. R. Montgomery and **Z.X. Li**, “Dynamics and optimal control of a legged robot in flight phase”, in Proc. 1990 IEEE Int’l Conference on Robotics and Automation, pp.1816-1821, Cincinnati, May 1990.

160. **Z.X. Li** and J.P. He, “An Energy-perturbation approach to limit cycle analysis in legged locomotion systems”, 29th IEEE Conf. on Decision and Control,1990, pp.1989-1994.

161. **Z.X. Li**, J. Canny and G. Heinzinger, “Robot motion planning with non-holonomic constraints”, in Proc. of the Fifth International Symposium on Robotics Research, edited by H. Miura and S. Arimoto, MIT Press, pp.309-316, 1989.

162. **Z.X. Li,** J. Canny and S. Sastry, “On motion planning for dextrous manipulation, part I: the problem formulation, Proc. of IEEE ICRA’89, Scottsdale, AZ, pp. 775-781. May 1989.

163. **Z.X. Li**, P. Hsu and S. Sastry, “Dynamic control of a multiple robotic system, in Proc. of 1988 American Control Conference.

164. P. Hsu, **Z.X. Li** and S. Sastry, “On grasping and coordinate manipulation by a multifingered robot hand”, in Proc. of IEEE ICRA’88, pp. 381-386. Philadelphia, PA.

165. **Z.X. Li** and S. Sastry, “Task oriented optimal grasping by a multifingered robot hand”, in Proc. of IEEE ICRA’87, April, 1987, Raleigh, N.C. pp.389-394.