Faculty

WU Yuanqing
Assistant Professor
wuyq@sustech.edu.cn

Dr. WU Yuanqing started his assistant professorship at SDIM of SUSTech in May 2019. He will be responsible for the establishment of SDIM’s own mechatronics lab. Dr. WU received his PhD degree in mechatronics from School of Mechanical Engineering of Shanghai Jiaotong University in 2009. From 2009 to 2014, he was first appointed as research assistant and later research associate at Electronic and Computer Engineering of Hong Kong University of Science and Technology. From 2014 to 2019, he was appointed as researcher at Department of Industrial Engineering of University of Bologna, Italy. Dr. WU’s research interests include application of modern differential geometry in kinematics and conceptual design of robot mechanisms, parallel robots, geometric methods in modeling, planning and control of robot manipulators, robot kinematic calibration and geometric algebra computing. Dr. Wu has published over 30 peer-reviewed papers, including three regular papers on IEEE Transactions on Robotics, one of the top venues for robotics research.

 

Research Interest:

Kinematic geometry, robot mechanism theory, parallel robots, geometric methods in robot modeling and control, robot kinematic calibration and geometric algebra computing, etc.

 

Work Experience:

2014 – 2019 Researcher of DIN, University of Bologna, Italy

2011 – 2014 Research Associate of ECE, Hong Kong University of Science and Technology

2009 – 2011 Research Assistant of ECE, Hong Kong University of Science and Technology

 

Education:

2001 – 2009 PhD candidate, School of Mechanical Engineering, Shanghai Jiaotong University.

1997 – 2001 Undergraduate, School of Mechanical Engineering, Shanghai Jiaotong University

 

Publications:

Journal publications

[1] Yuanqing Wu, and Marco Carricato, “Line Symmetric Motion Generators”, Mechanism and Machine Theory 127 (2018): 112-125, DOI: 10.1016/j.mechmachtheory.2018.05.007.

[2] Yuanqing Wu, and Marco Carricato, “Workspace Optimization of a Class of Zero-Torsion Parallel Wrists”, Robotica (2018): 1-16, DOI: 10.1017/S0263574718000413.

[3] Yuanqing Wu, and Marco Carricato, “Symmetric subspace motion generators”, IEEE Transactions on Robotics (JCR-Robotics-Q1-Rank 2, Impact Factor 4.264) 34.3 (2018): 716-735, DOI: 10.1109/TRO.2018.2813377.

[4] Yuanqing Wu, and Marco Carricato, “Synthesis and Singularity Analysis of N-UU Parallel Wrists: a Symmetric Space Approach”, ASME Journal of Mechanisms and Robotics (2017), DOI: 10.1115/1.4037547.

[5] Yajue Yang, Yuanqing Wu, and Jia Pan, “Unified GPU-Parallelizable Robot Forward Dynamics Computation using Band-Sparsity”, IEEE Robotics and Automation Letters (2017), DOI: 10.1109/LRA.2017.2735479.

[6] Yajue Yang, Yuanqing Wu, and Jia Pan, “Parallel dynamics computation using prefix sum operations”, IEEE Robotics and Automation Letters 2.3 (2017): 1296-1303, DOI: 10.1109/LRA.2017.2666544.

[7] Yuanqing Wu, and Marco Carricato. “Identification and Geometric Characterization of Lie Triple Screw Systems and Their Exponential Images”, Mechanism and Machine Theory 107 (2017): 305-323, DOI: 10.1016/j.mechmachtheory.2016.09.020.

[8] Cheng Li, Yuanqing Wu, Harald Löwe, and Zexiang Li. “POE-based Robot Kinematic Calibration Using Axis Configuration Space and Adjoint Error Model”, IEEE Transactions on Robotics (JCR-Robotics-Q1-Rank 2, Impact Factor 4.264) 32.5 (2016): 1264-1279, DOI: 10.1109/TRO.2016.2593042.

[9] Harald Löwe, Yuanqing Wu, and Marco Carricato. “Symmetric subspaces of SE(3).”Advances in Geometry 16.3 (2016): 381-388, DOI: 10.1515/advgeom-2016-0015.

[10] Yuanqing Wu, Harald Löwe, Marco Carricato, and Zexiang Li. “Inversion Symmetry of the Euclidean Group: Theory and Application to Robot Kinematics.” IEEE Transactions on Robotics (JCR-Robotics-Q1-Rank 2, Impact Factor 4.264) 32.2 (2016): 312-326, DOI: 10.1109/TRO.2016.2522442.

[11] Yuanqing Wu, Hong Wang, and Zexiang Li. “Quotient Kinematic Machine: Concept, Analysis and Synthesis”, ASME Journal of Mechanisms and Robotics, vol. 3, pp. 041004-1 – 041004-11, 2011, DOI: 10.1115/1.4004891.

[12] Yuanqing Wu, and Han Ding. “Equivalence relation and partial ordering of parallel mechanisms with applications to mechanism synthesis and mobility analysis”, Chinese Science Bulletin 55 (16), pp. 1679-1687, 2010, DOI: 10.1007/s11434-009-3683-5.

 

Conference publications

[1] Wu, Yuanqing, and Marco Carricato. “Line Symmetric Motion Generators”, Advances in Robot Kinematics. Springer, Bologna, Italy, 2018.

[2] Wu, Yuanqing, and Marco Carricato. “Optimal Design of N-UU Parallel Mechanisms.”, Computational Kinematics. Springer, Cham, 2018. 394-402. DOI: 10.1007/978-3-319-60867-9_45

[3] Selig, J. M., Yuanqing Wu, and Marco Carricato. “Motion Interpolation in Lie Subgroups and Symmetric Subspaces.”, Computational Kinematics. Springer, Cham, 2018. 467-474. DOI: 10.1007/978-3-319-60867-9_53

[4] Yajue Yang, Yuanqing Wu, and Jia Pan, “Parallel Dynamics Computation using Prefix Sum Operations”, IEEE International Conference on Robotics and Automation (ICRA), 2017.

[5] Yuanqing Wu, Andreas Müller, and Marco Carricato, “The 2D Orientation Interpolation Problem: A Symmetric Space Approach”, Proceedings of the 15th Conference on Advances in Robot Kinematics (ARK), Grasse, France, June. 27–30, 2016. DOI: 10.1007/978-3-319-56802-7_31

[6] Yuanqing Wu, and Marco Carricato, “Design of a Novel 3-DoF Serial-Parallel Robotic Wrist: A Symmetric Space Approach”, Proceedings of the International Symposium of Robotics Research (ISRR), Sestri Levante, Italy, Sept. 12–15, 2015. DOI: 10.1007/978-3-319-51532-8_24

[7] Yuanqing Wu, and Marco Carricato, “Identification and Geometric Characterization of Lie Triple Screw Systems”, 14th IFToMM World Congress, Tapei Taiwan, Oct. 25–30, 2015. DOI: 10.6567/IFToMM.14TH.WC.OS2.005

[8] Cheng Li, Yuanqing Wu, and Zexiang Li, “Identifiability and improvement of Adjoint error approach for serial robot calibration”, IEEE International Conference on Robotics and Automation (ICRA), 2014. DOI: 10.1109/ICRA.2014.6907029

[9] Yuanqing Wu, Cheng Li, Jing Li, and Zexiang Li, “Comparative study of robot kinematic calibration algorithms using a unified geometric framework”, IEEE International Conference on Robotics and Automation (ICRA), 2014. DOI: 10.1109/ICRA.2014.6907034

[10] Cheng Li, 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”, IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. DOI: 10.1109/IROS.2013.6696466

[11] Yuanqing Wu, Guanfeng Liu, Harald Löwe, and Zexiang Li. “Exponential submanifolds: A new kinematic model for mechanism analysis and synthesis”, IEEE International Conference on Robotics and Automation (ICRA), 2013. DOI: 10.1109/ICRA.2013.6631167

[12] Jinbo Shi, Zexiang Li, Yuanqing Wu, “A New Quantitative Performance Index for Low Mobility Parallel Kinematic Manipulators’ Accuracy”, IEEE International Conference on Robotics and Automation (ICRA), 2011. DOI: 10.1109/ICRA.2011.5979809

[13] Yuanqing Wu, Zexiang Li, and Jinbo Shi, “Geometric Properties of Zero-Torsion Parallel Kinematics Machines”, IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. DOI: 10.1109/IROS.2010.5649739

[14] Yuanqing Wu, Hong Wang, Zexiang Li, Yunjiang Lou, and Jinbo Shi. “Quotient kinematics machines: Concept, analysis and synthesis”, IEEE International Conference on Robotics and Automation (ICRA), 2010. DOI: 10.1109/ROBOT.2010.5509505

[15] Yunjiang Lou, Tieniu Chen, Yuanqing Wu, Zhibin Li, and Shilong Jiang, “Improved and modified geometric formulation of POE based kinematic calibration of serial robots”, IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. DOI: 10.1109/IROS.2009.5354219

[16] Yuanqing Wu, Zexiang Li, Han Ding, and Yunjiang Lou “Quotient kinematics machines: Concept, analysis and synthesis”, IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), 2008. DOI: 10.1109/IROS.2008.4650782

[17] Selig J.M., Yuanqing Wu, “Interpolated Rigid-Body Motions and Robotics”, IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), 2006. DOI: 10.1109/IROS.2006.281815

[18] Yuanqing Wu, Han Ding, Jian Meng, and Zexiang Li, “Finite Motion Validation for Parallel Manipulators: A Differential Geometry Approach”, IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), 2006. DOI: 10.1109/IROS.2006.282601

[19] Yuanqing Wu, Han Ding, Jian Meng, and Zexiang Li, “Lie Theoretical Approach to Synthesizing T(3) Parallel Kinematic Manipulators”, IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), 2005. DOI: 10.1109/IROS.2005.1545145