photo-small.png Chenggang (Frank) LIU

Bio

I am currently a Postdoctoral Research Fellow with Robotics Institute, Carnegie Mellon University. I am now working with Prof. Chris G. Atkeson. I received M.S. degree and Ph.D. degree in Control Theory and Control Engineering (Computer Science) in Shanghai Jiao Tong University.

Current Research

I am now working on full-body motion planning and control for DRC tasks such as getting the robot out of a car, opening doors and cleaning debris and etc. The robot is a large hydraulic humanoid robot named Atlas, which is provide by DARPA.

Before this, I've been working on a trajectory library approach for humanoid robot balancing and walking control. For more information, please visit HERE.

Past R&D Experiences

Publications

Book

  • [Book] Chapter 1: Trajectory-based dynamic programming, Christopher G. Atkeson and Chenggang LIU, Modeling, Simulation and Optimization of Bipedal Walking Cognitive Systems Monographs Volume 18, 2013, pp 1-15 DOI:10.1007/978-3-642-36368-91

Journal papers

  • [Journal] Biped walking control using a trajectory library Chenggang LIU, Christopher G. Atkeson, and Jianbo SU, Robotica, Volume 31 Issue 2, March 2013, Pages 311-322 Cambridge University Press New York, NY, USA DOI: 10.1017/S0263574712000203
  • [Journal] General Active Vision System based on DSP (in Chinese) Yongmei LIU and Chenggang LIU Electronic Design Engineering, May 16, 2013
  • [Journal] Neighboring optimal control for periodic tasks for systems with discontinuous dynamics Chenggang LIU, Christopher G. Atkeson, and Jianbo SU, SCIENCE CHINA Information Sciences, 2011, 54 (3): 653-663. DOI: 10.1007/s11432-011-4185-z
  • [Journal] Basic Behavior Acquisition with Multisensor Integration for a Robot System Chenggang LIU and Jianbo SU, Advanced Robotics, 2009, 23 (12-13), 1561—1578. DOI: 10.1163/016918609X12496339824450
  • [Journal] Design and Implementation of Motor Control System for Small Humanoid Robot (in Chinese) ZHANG Yi, LIU Cheng-gang, XING Deng-peng COMPUTER ENGINEERING, 2009, 35(24) DOI:10.3969/j.issn.1000-3428.2009.24.082
  • [Journal] Step Motor Control Strategy in High Speed Pan/Tilt/Zoom Camera System (in Chinese) Chenggang LIU, Jianbo SU Electric Automation, 2002

Conference papers

  • [Conference] Implementation of a trajectory library approach to controlling humanoid standing balance Chenggang LIU and Jianbo SU (2011), /Systems, Man, and Cybernetics (SMC), 2011 IEEE International Conference on / DOI: 10.1109/ICSMC.2011.6083884
  • [Conference] Biped walking control using offline and online optimization Chenggang LIU and Jianbo SU, Control Conference (CCC), 2011 30th Chinese, 22-24 July 2011
  • [Conference] Standing Balance Control of a Humanoid Robot In the Presence of Continous Perturbations (in Chinese) Chenggang LIU and Jianbo SU, Control Conference (CCC), 2011 30th Chinese, 22-24 July 2011
  • [Conference] Standing balance control using a trajectory library Chenggang LIU and Christopher G. Atkeson, Dynamic Walking, 2009.
  • [Conference] Standing balance control using a trajectory library Chenggang LIU and Christopher G. Atkeson(2009), Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009, 3031—3036. DOI:10.1109/IROS.2009.5354018
  • [Conference] Basic behavior acquisition based on multisensor integration of a robot head Chenggang LIU and Jianbo SU, Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, 2008, 3094—3099. DOI: 10.1109/ROBOT.2008.4543681

Patents

  • Camera System for Auto-detecting and Tracking Suspicious Subjects, ZL03116154.5 (Issued)
  • Electric Wire Driven Actuator for Artificial Joint, ZL200710038296.6 (Issued)
  • General Distributed Control System for Humanoid Robots, ZL200910054322.3 (Issued)
  • Method and System for Multiple GPU Support, ZL200610128006.2 (Issued)
  • Method and System for Multiple GPU Support, ZL200610110751.4 (Issued)
  • Distributed Dual-bus Motion Control System for Humanoid Robots, 200810038844.X (Published)
  • Method and System for Multiple GPU Support, U.S. Patent Pending 20070139423

Contact

Chenggang Liu                                        
Robotics Institute, Carnegie Mellon University       
5000 Forbes Ave., Pittsburgh, PA, US 15213           
Office: NSH A413                                     
Phone(office): +1 (412) 268-1726                     
E-mail:  cgliu2008 AT gmail DOT com

Created: 2014-09-09 Tue 10:17