Publications by Year

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2024

Xu, W, Guo, Y, Liu, Y. and Ben-Tzvi, P., 2024, “Development of a Novel Compact Robotic Exoskeleton Glove with Reinforcement Learning Control”, Journal of Mechanisms and Robotics, Transactions of the ASME, DOI: 10.1115/1.4064283.

2023

Liu, Y. and Ben-Tzvi, P., 2023, “How a Serpentine Tail Assists Agile Motions of Kangaroo Rats: A Dynamics and Control Approach”, Nonlinear Dynamics, 111(16), pp. 14783-14803.

2022

Xu, W, Liu, Y. and Ben-Tzvi, P., “Development of a Novel Low-profile Robotic Exoskeleton Glove for Patients with Brachial Plexus Injuries”, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 23–27, 2022, pp. 11121-11126.

Xu, W, Liu, Y. and Ben-Tzvi, P., “Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism”, Proceedings of the ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2022), 46th Mechanisms & Robotics Conference, St. Louis, MO, USA, August 14-17, 2022, p. V007T07A047.

Pressgrove, I., Liu, Y. and Ben-Tzvi, P., “Design and Implementation of a Power-Dense, Modular, and Compact Serpentine Articulated Robotic Tail”, Proceedings of the ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2022), 46th Mechanisms & Robotics Conference, St. Louis, MO, USA, August 14-17, 2022, p. V007T07A053.

Liu, Y. and Ben-Tzvi, P., “Systematic Development of a Novel, Dynamic, Reduced Complexity Quadruped Robot Platform for Robotic Tail Research”, 2022 IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, May 23-27, 2022, pp. 4664-4670.

Wang, J., Liu, Y. and Ben-Tzvi, P., 2022 “Robust Adaptive Input-Output Control for a Class of Modular Robotic Systems via Inverse Optimality Theory”, International Journal of Control, 95(7), pp. 1898-1912.

2021

Yang, J., Saab, W., Liu, Y. and Ben-Tzvi, P., 2021, “Reuleaux Triangle-Based Two Degrees of Freedom Bipedal Robot”, Robotics, 10(4), p. 114.

Ben-Tzvi, P. and Liu, Y., 2021, “Robots With Tails”, ASME Mechanical Engineering Magazine, 143(6), pp. 32-37. [Magazine Article]

Liu, Y. and Ben-Tzvi, P., “Feedback Control of the Locomotion of a Tailed Quadruped Robot”, Proceedings of the ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2021), 45th Mechanisms & Robotics Conference, Virtual, Online, Aug. 17-20, 2021, p. V08BT08A009.

Liu, Y. and Ben-Tzvi, P., 2021, “Dynamic Modeling, Analysis, and Design Synthesis of a Reduced Complexity Quadruped with a Serpentine Robotic Tail”, Integrative and Comparative Biology, 61(2), pp. 464–477.

Liu, Y. and Ben-Tzvi, P., 2021, “A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission”, Journal of Mechanisms and Robotics, Transactions of the ASME, 13(3), p. 031112. [Invited Special Issue Paper]

Liu, Y. and Ben-Tzvi, P., 2021, “Dynamic Modeling, Analysis, and Comparative Study of a Quadruped with Bio-inspired Robotic Tails”, Multibody System Dynamics, 51(2), pp. 195-219.

Liu, Y. and Ben-Tzvi, P., “Towards Dynamic Locomotion of Legged Robots Using Biomimetic Articulated Robotic Tails”, 2021 Society for Integrative and Comparative Biology Annual Meeting (SICB2021), Washington D.C., USA, Jan. 3-7, 2021. [Abstract Submission]

2020

Liu, Y. and Ben-Tzvi, P., 2020, “Design, Analysis, and Integration of a New Two-DOF Articulated Multi-link Robotic Tail Mechanism”, Journal of Mechanisms and Robotics, Transactions of the ASME, 12(2), p. 021101. [Invited Special Issue Paper]

Liu, Y. and Ben-Tzvi, P., “A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission”, Proceedings of the ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2020), 44th Mechanisms & Robotics Conference, St. Louis, MO, USA, Aug. 16-19, 2020, p. V010T10A065.

Liu, Y. and Ben-Tzvi, P., 2020, “An Articulated Closed Kinematic Chain Planar Robotic Leg for High Speed Locomotion”, Journal of Mechanisms and Robotics, Transactions of the ASME, 12(4), p. 041003.

2019

Liu, Y., Wang, J. and Ben-Tzvi, P., 2019, “A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism”, Journal of Mechanisms and Robotics, Transactions of the ASME, 11(5), p. 051005.

Liu, Y. and Ben-Tzvi, P., “A New Approach to Model the Constant Curvature Continuum Robot Dynamics”, Proceedings of the ASME 2019 Dynamic Systems and Control Conference (DSCC2019), Park City UT, USA, Oct. 8–11, 2019, p. V003T20A001.

Liu, Y. and Ben-Tzvi, P., ``Design, Analysis, and Optimization of a New Two-DOF Articulated Multi-link Robotic Tail’’, Proceedings of the ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2019), 43rd Mechanisms & Robotics Conference, Anaheim CA, USA, Aug. 18–21, 2019, p. V05BT07A008.

Liu, Y. and Ben-Tzvi, P., “Maneuvering and Stabilization of Reduced Complexity Legged Robots Using Bioinspired Robotic Tails”, 2019 Do Good Robotics Symposium (DGRS2019), College Park MD, USA, October 3-4, 2019. [Extended Abstract Submission]

Rone, W., Liu, Y. and Ben-Tzvi, P., 2019, “Maneuvering and Stabilization Control of a Bipedal Robot with a Universal-Spatial Robotic Tail”, Bioinspiration & Biomimetics, 14(1), p. 016014.

Wan, N., Yao, W., Fang, X. and Liu, Y., 2019, “Partially Independent Control Scheme for Spacecraft Rendezvous in Near-Circular Orbits”, Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, p. 0954410018776418.

2018

Liu, Y., Kong, M., Wan, N. and Ben-Tzvi, P., 2018, “A Geometric Approach to Obtain the Closed-Form Forward Kinematics of H4 Parallel Robot”, Journal of Mechanisms and Robotics, Transactions of the ASME, 10(5), p. 0510113.

Liu, Y. and Ben-Tzvi, P., “Dynamic Modeling of the Quadruped with a Robotic Tail Using Virtual Work Principle”, Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2018), 42nd Mechanisms & Robotics Conference, Quebec City, Canada, Aug. 26-29, 2018, p. V05BT07A021.

Patents

Ben-Tzvi, P., Liu, Y., “Extensible Continuum Manipulator”, US Patent Appl. No. 17/996712, PCT No. PCT/US2021/034564, Published July 27 2023.

Ben-Tzvi, P., Rone, W., Saab, W., Liu, Y., “Articulated Multi-Link Robotic Tail Systems and Methods”, Patent No. 11,305,420, UNITED STATES, 2022.

Wang, S., Liu, Y., Gong, P., Sun, T., Pan, Q., Yin, Y., “A Quadruped Walking Robot”, Patent No. CN 201410214222.3, P.R. CHINA, 2014.

Ji, C., Liu, Y., Kong, M., “An O-ring Gripper Used for Automatic Assembly”, Patent No. CN 201410145847.9, P.R. CHINA, 2014.

Ji, C., Liu, Y., Kong, M., “A Novel Fourth Axis of Delta Robot with an Upper Placed Ball Joint Clamping a Square Shaft”, Patent No. CN 201410126057.6, P.R. CHINA, 2014.

Thesis and Dissertation

Liu, Y., “Novel Legged Robots with a Serpentine Robotic Tail: Modeling, Control, and Implementations”, Virginia Tech, May 2022.

Liu, Y., “A Connection Between Analytic and Nonanalytic Singular Perturbations of the Quadratic Map”, University of Minnesota, May 2017.

Liu, Y., “Research on the Nonlinear Control of High-Speed Delta Robot”, Harbin Institute of Technology, July 2015.