Y
Yunhui Liu
Researcher at The Chinese University of Hong Kong
Publications - 479
Citations - 8012
Yunhui Liu is an academic researcher from The Chinese University of Hong Kong. The author has contributed to research in topics: Control theory & Robot. The author has an hindex of 42, co-authored 414 publications receiving 6645 citations. Previous affiliations of Yunhui Liu include Queensland University of Technology & University of Hong Kong.
Papers
More filters
Journal ArticleDOI
Dynamic sliding PID control for tracking of robot manipulators: theory and experiments
TL;DR: A simple decentralized continuous sliding PID controller for tracking tasks that yields semiglobal stability of all closed-loop signals with exponential convergence of tracking errors is proposed.
Journal ArticleDOI
Uncalibrated visual servoing of robots using a depth-independent interaction matrix
TL;DR: This paper presents a new adaptive controller for image-based dynamic control of a robot manipulator using a fixed camera whose intrinsic and extrinsic parameters are not known, and proves asymptotic convergence of the image errors to zero by the Lyapunov theory.
Journal ArticleDOI
Qualitative test and force optimization of 3-D frictional form-closure grasps using linear programming
Yunhui Liu,Mei Wang +1 more
TL;DR: Qualitative test of 3D frictional form-closure grasps of n robotic fingers is formalized as a problem of linear programming (LP) and the problem of minimizing the L/sub 1/ norm of the grasp forces balancing an external wrench can be transformed to a ray-shooting problem.
Journal ArticleDOI
Enclosing a target by nonholonomic mobile robots with bearing-only measurements
TL;DR: This paper addresses the problem of steering a single or a group of autonomous nonholonomic mobile robots to enclose a target of interest with control schemes which require only local bearing measurements, and deals with encirclement of two types of targets.
Journal ArticleDOI
Adaptive Visual Servoing Using Point and Line Features With an Uncalibrated Eye-in-Hand Camera
TL;DR: A new algorithm is developed to estimate unknown parameters online by combining the Slotine-Li method with the idea of structure from motion in computer vision, and this new adaptive algorithm can guarantee the convergence of the estimated parameters to the real values up to a scale.