Yu Zheng - RankMe

103 papers A* 14A 14B 2C 1Journal 60Unranked 12

Year	Rank	Type	Title / Venue / Authors
2025	A*	`conf`	A Data-Efficient Progressive Learning Framework for Robot Scooping Task. ICRA Shuai Wang, Entang Wang, Bidan Huang, Chong Zhang, Wei Wang, Yu Zheng
2025	J	`jnl`	A New Quantitative Measure for Separation and Penetration Between Convex Primitives and a Point Cloud or a Triangle Mesh. IEEE Trans. Robotics Yu Zheng
2025	J	`jnl`	An Efficient Unified Algorithm for the Minimum Euclidean Distance Between Two Collections of Compact Convex Sets. IEEE Trans. Robotics Yu Zheng
2025	J	`jnl`	Beyond End-Effector: Utilizing High-Resolution Tactile Signals for Physical Human-Robot Interaction. IEEE Trans. Ind. Electron. Yu Sun, Cong Xiao, Lipeng Chen, Lu Chen, Haojian Lu, Yue Wang, Wang Wei Lee, Yu Zheng, Zhengyou Zhang, Rong Xiong
2025	J	`jnl`	Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction. CoRR Lu Chen, Lipeng Chen, Xiangchi Chen, Haojian Lu, Yu Zheng, Jun Wu, Yue Wang, Zhengyou Zhang, Rong Xiong
2025	J	`jnl`	Dexterous in-hand manipulation of slender cylindrical objects through deep reinforcement learning with tactile sensing. Robotics Auton. Syst. Wenbin Hu, Bidan Huang, Wang Wei Lee, Sicheng Yang, Yu Zheng, Zhibin Li
2025	J	`jnl`	Learning 6-DoF Fine-Grained Grasp Detection Based on Part Affordance Grounding. IEEE Trans Autom. Sci. Eng. Yaoxian Song, Penglei Sun, Piaopiao Jin, Yi Ren, Yu Zheng, Zhixu Li, Xiaowen Chu, Yue Zhang, Tiefeng Li, Jason Gu
2025	A	`conf`	Robotic Hand Tool Use with Contact-Based Demonstration: The Case of Cucumber Peeling. IROS Lingzi Xie, Shuai Wang, Jingxiang Chen, Bidan Huang, Yi Zhang, Sicheng Yang, Yuyuan Chen, Wang Wei Lee, Jialong Yang, Tianliang Liu, Yu Zheng, Chenguang Yang
2024	J	`jnl`	A Data-Driven Image-Based Visual Servoing Scheme for Redundant Manipulators With Unknown Structure and Singularity Solution. IEEE Trans. Syst. Man Cybern. Syst. Zhengtai Xie, Yu Zheng, Long Jin
2024	J	`jnl`	A Hierarchical Framework for Quadruped Omnidirectional Locomotion Based on Reinforcement Learning. IEEE Trans Autom. Sci. Eng. Wenhao Tan, Xing Fang, Wei Zhang, Ran Song, Teng Chen, Yu Zheng, Yibin Li
2024	A	`conf`	A High-Performance Anthropomorphic Robotic Arm for Household Applications. IROS Tianliang Liu, Sicheng Yang, Jingchen Li, Xiangchi Chen, Shuai Wang, Xiao Teng, Wangwei Lee, Xiong Li, Yu Zheng
2024	A*	`conf`	A Robust Model Predictive Controller for Tactile Servoing. ICRA Shuai Wang, Yihao Huang, Wang Wei Lee, Tianliang Liu, Xiao Teng, Yu Zheng, Qiang Li
2024	J	`jnl`	Compliance while resisting: A shear-thickening fluid controller for physical human-robot interaction. Int. J. Robotics Res. Lu Chen, Lipeng Chen, Xiangchi Chen, Haojian Lu, Yu Zheng, Jun Wu, Yue Wang, Zhengyou Zhang, Rong Xiong
2024	J	`jnl`	Enabling Versatility and Dexterity of the Dual-Arm Manipulators: A General Framework Toward Universal Cooperative Manipulation. IEEE Trans. Robotics Yi Ren, Zhehua Zhou, Ziwei Xu, Yang Yang, Guangyao Zhai, Marion Leibold, Fenglei Ni, Zhengyou Zhang, Martin Buss, Yu Zheng
2024	J	`jnl`	Max: A Wheeled-Legged Quadruped Robot for Multimodal Agile Locomotion. IEEE Trans Autom. Sci. Eng. Qinqin Zhou, Sicheng Yang, Xinyang Jiang, Dongsheng Zhang, Wanchao Chi, Ke Chen, Shenghao Zhang, Jie Li, Jingfan Zhang, Rui Wang, Jingchen Li, Yufeng Zhang, Haitao Wang, Shuai Wang, Lingzhu Xiang, Yu Zheng, Zhengyou Zhang
2024	J	`jnl`	Online Control Barrier Function Construction for Safety-Critical Motion Control of Manipulators. IEEE Trans. Syst. Man Cybern. Syst. Xuda Ding, Han Wang, Yi Ren, Yu Zheng, Cailian Chen, Jianping He
2024	—	`conf`	Self-Supervised Bayesian Visual Imitation Learning Applied to Robotic Pouring. ICIT Dandan Zhang, Yu Zheng, Wen Fan, Nathan F. Lepora, Zhengyou Zhang
2024	J	`jnl`	Soft Magnetic Skin With Motion and Contact Sensing for Anthropomorphic Robotic Finger. IEEE Robotics Autom. Lett. Xingyu Ding, Xiangbo Wang, Yaqi Zhang, Shuntian Yao, Yu Zheng, Fuchun Sun, Jianhua Shan, Bin Fang
2024	A	`conf`	TRX-Hand5: An Anthropomorphic Hand with Integrated Tactile Feedback for Grasping and Manipulation in Human Environments. IROS Sicheng Yang, Wang Wei Lee, Zhong Zhang, Youda Xiong, Jiaming Liang, Peng Lu, Yonghui Zhu, Tianliang Liu, Jingchen Li, Rui Wang, Xiong Li, Yu Zheng
2024	J	`jnl`	TossNet: Learning to Accurately Measure and Predict Robot Throwing of Arbitrary Objects in Real Time With Proprioceptive Sensing. IEEE Trans. Robotics Lipeng Chen, Weifeng Lu, Kun Zhang, Yizheng Zhang, Longfei Zhao, Yu Zheng
2024	J	`jnl`	Tracking Object's Pose via Dynamic Tactile Interaction. Int. J. Humanoid Robotics Qiguang Lin, Chaojie Yan, Qiang Li, Yonggen Ling, Wangwei Lee, Yu Zheng, Zhaoliang Wan, Bidan Huang, Xiaofeng Liu
2024	J	`jnl`	Uncovering the Secrets of Human-Like Movement: A Fresh Perspective on Motion Planning. CoRR Lei Shi, Qichao Liu, Cheng Zhou, Wentao Gao, Haotian Wu, Yu Zheng, Xiong Li
2023	—	`conf`	A Learning Framework for Human-Like Time Parameterization of Robot Manipulation Paths. Humanoids Lipeng Chen, Xiangchi Chen, Wanchao Chi, Yu Zheng
2023	A	`conf`	A Unified Trajectory Generation Algorithm for Dynamic Dexterous Manipulation. IROS Cheng Zhou, Wentao Gao, Weifeng Lu, Yanbo Long, Sicheng Yang, Longfei Zhao, Bidan Huang, Yu Zheng
2023	B	`conf`	ChatHRC: Personalized Human-Robot Collaboration using Fuzzy Reinforcement Learning with Natural Language Rewards. RO-MAN Zhe Hu, Weifeng Lu, Yu Zheng, Jia Pan
2023	J	`jnl`	Dexterous In-Hand Manipulation of Slender Cylindrical Objects through Deep Reinforcement Learning with Tactile Sensing. CoRR Wenbin Hu, Bidan Huang, Wang Wei Lee, Sicheng Yang, Yu Zheng, Zhibin Li
2023	A*	`conf`	Differential Dynamic Programming based Hybrid Manipulation Strategy for Dynamic Grasping. ICRA Cheng Zhou, Yanbo Long, Lei Shi, Longfei Zhao, Yu Zheng
2023	J	`jnl`	Grasping Living Objects With Adversarial Behaviors Using Inverse Reinforcement Learning. IEEE Trans. Robotics Zhe Hu, Yu Zheng, Jia Pan
2023	—	`conf`	Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs. ICAR Shuai Wang, Jingfan Zhang, Weiyi Kong, Chong Zhang, Jie Lai, Dongsheng Zhang, Chunyan Wang, Ke Chen, Zhaoyuan Gu, Ye Zhao, Ke Zhang, Yu Zheng
2023	J	`jnl`	Learning 6-DoF Fine-grained Grasp Detection Based on Part Affordance Grounding. CoRR Yaoxian Song, Penglei Sun, Yi Ren, Yu Zheng, Yue Zhang
2023	J	`jnl`	Locomotion generation for quadruped robots on challenging terrains via quadratic programming. Auton. Robots Xinyang Jiang, Wanchao Chi, Yu Zheng, Shenghao Zhang, Yonggen Ling, Jiafeng Xu, Zhengyou Zhang
2023	—	`conf`	Online Multi-Phase Trajectory Generation for Compliant Landing Control of Quadruped Robots. ICAR Shuai Wang, Wanchao Chi, Jinbo Zuo, Qinqin Zhou, Ke Chen, Sicheng Yang, Lingzhu Xiang, Yu Zheng
2023	—	`conf`	Robust Robot Control for Human-Walking Assistance from Physical Human-Robot Interaction. ROBIO Lipeng Chen, Jingchen Li, Xiong Li, Yu Zheng
2023	—	`conf`	Tactile-Based Object Pose Estimation Employing Extended Kalman Filter. ICARM Qiguang Lin, Chaojie Yan, Qiang Li, Yonggen Ling, Yu Zheng, Wangwei Lee, Zhaoliang Wan, Bidan Huang, Xiaofeng Liu
2022	A*	`conf`	A Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots. ICRA Wanchao Chi, Xinyang Jiang, Yu Zheng
2022	J	`jnl`	A Simultaneous Learning and Control Scheme for Redundant Manipulators With Physical Constraints on Decision Variable and Its Derivative. IEEE Trans. Ind. Electron. Mei Liu, Jialiang Fan, Yu Zheng, Shuai Li, Long Jin
2022	J	`jnl`	Adaptive optimal output regulation for wheel-legged robot Ollie: A data-driven approach. Frontiers Neurorobotics Jingfan Zhang, Zhaoxiang Li, Shuai Wang, Yuan Dai, Ruirui Zhang, Jie Lai, Dongsheng Zhang, Ke Chen, Jie Hu, Weinan Gao, Jianshi Tang, Yu Zheng
2022	A	`conf`	An Adaptive Approach to Whole-Body Balance Control of Wheel-Bipedal Robot Ollie. IROS Jingfan Zhang, Shuai Wang, Haitao Wang, Jie Lai, Zhenshan Bing, Yu Jiang, Yu Zheng, Zhengyou Zhang
2022	J	`jnl`	Bio-Inspired Rhythmic Locomotion for Quadruped Robots. IEEE Robotics Autom. Lett. Jiapeng Sheng, Yanyun Chen, Xing Fang, Wei Zhang, Ran Song, Yu Zheng, Yibin Li
2022	J	`jnl`	Configuration-Aware Safe Control for Mobile Robotic Arm with Control Barrier Functions. CoRR Fan Ding, Jianping He, Yi Ren, Han Wang, Yu Zheng
2022	J	`jnl`	DA CoRR Guangyao Zhai, Yu Zheng, Ziwei Xu, Xin Kong, Yong Liu, Benjamin Busam, Yi Ren, Nassir Navab, Zhengyou Zhang
2022	J	`jnl`	DA$^{2}$ Dataset: Toward Dexterity-Aware Dual-Arm Grasping. IEEE Robotics Autom. Lett. Guangyao Zhai, Yu Zheng, Ziwei Xu, Xin Kong, Yong Liu, Benjamin Busam, Yi Ren, Nassir Navab, Zhengyou Zhang
2022	J	`jnl`	Data-Driven Motion-Force Control Scheme for Redundant Manipulators: A Kinematic Perspective. IEEE Trans. Ind. Informatics Jialiang Fan, Long Jin, Zhengtai Xie, Shuai Li, Yu Zheng
2022	—	`conf`	Dual-arm Object Transportation via Model Predictive Control and External Disturbance Estimation. CASE Maolin Lei, Mario Selvaggio, Ting Wang, Fabio Ruggiero, Cheng Zhou, Chen Yao, Yu Zheng
2022	J	`jnl`	Explainable Hierarchical Imitation Learning for Robotic Drink Pouring. IEEE Trans Autom. Sci. Eng. Dandan Zhang, Qiang Li, Yu Zheng, Lei Wei, Dongsheng Zhang, Zhengyou Zhang
2022	J	`jnl`	Large-Scale Integrated Flexible Tactile Sensor Array for Sensitive Smart Robotic Touch. CoRR Zhenxuan Zhao, Jianshi Tang, Jian Yuan, Yijun Li, Yuan Dai, Jian Yao, Qingtian Zhang, Sanchuan Ding, Tingyu Li, Ruirui Zhang, Yu Zheng, Zhengyou Zhang, Song Qiu, Qingwen Li, Bin Gao, Ning Deng, He Qian, Fei Xing, Zheng You, Huaqiang Wu
2022	A	`conf`	Multi-fingered Tactile Servoing for Grasping Adjustment under Partial Observation. IROS Hanzhong Liu, Bidan Huang, Qiang Li, Yu Zheng, Yonggen Ling, Wangwei Lee, Yi Liu, Ya-Yen Tsai, Chenguang Yang
2022	—	`conf`	On the Possibility of Two-Dimensional Slip Rendering Using Two Cross Placed Belts. ICARM Lezhang Liu, Li Jiang, Yu Zheng, Xiong Li, Xinyang Jiang
2022	A	`conf`	Optimal Nonprehensile Interception Strategy for Objects in Flight. IROS Cheng Zhou, Yanbo Long, Ying Cao, Longfei Zhao, Bidan Huang, Yu Zheng
2022	J	`jnl`	Quadratic Pose Estimation Problems: Globally Optimal Solutions, Solvability/Observability Analysis, and Uncertainty Description. IEEE Trans. Robotics Jin Wu, Yu Zheng, Zhi Gao, Yi Jiang, Xiangcheng Hu, Yilong Zhu, Jianhao Jiao, Ming Liu
2022	A*	`conf`	Real-time Inertial Parameter Identification of Floating-Base Robots Through Iterative Primitive Shape Division. ICRA Jiafeng Xu, Yu Zheng, Xinyang Jiang, Sicheng Yang, Lingzhu Xiang, Zhengyou Zhang
2022	J	`jnl`	Safety-Critical Optimal Control for Robotic Manipulators in A Cluttered Environment. CoRR Xuda Ding, Han Wang, Yi Ren, Yu Zheng, Cailian Chen, Jianping He
2022	A*	`conf`	TOPP-MPC-Based Dual-Arm Dynamic Collaborative Manipulation for Multi-Object Nonprehensile Transportation. ICRA Cheng Zhou, Maolin Lei, Longfei Zhao, Zunran Wang, Yu Zheng
2022	A	`conf`	Toward Global Sensing Quality Maximization: A Configuration Optimization Scheme for Camera Networks. IROS Xuechao Zhang, Xuda Ding, Yi Ren, Yu Zheng, Chongrong Fang, Jianping He
2022	J	`jnl`	Toward Global Sensing Quality Maximization: A Configuration Optimization Scheme for Camera Networks. CoRR Xuechao Zhang, Xuda Ding, Yi Ren, Yu Zheng, Chongrong Fang, Jianping He
2021	B	`conf`	A Bilateral Dual-Arm Teleoperation Robot System with a Unified Control Architecture. RO-MAN Cheng Zhou, Longfei Zhao, Haitao Wang, Lipeng Chen, Yu Zheng
2021	A	`conf`	A Computational Framework for Robot Hand Design via Reinforcement Learning. IROS Zhong Zhang, Yu Zheng, Zhe Hu, Lezhang Liu, Xuan Zhao, Xiong Li, Jia Pan
2021	A	`conf`	A Hierarchical Framework for Quadruped Locomotion Based on Reinforcement Learning. IROS Wenhao Tan, Xing Fang, Wei Zhang, Ran Song, Teng Chen, Yu Zheng, Yibin Li
2021	J	`jnl`	An Efficient and Responsive Robot Motion Controller for Safe Human-Robot Collaboration. IEEE Robotics Autom. Lett. Xuan Zhao, Tingxiang Fan, Yanwen Li, Yu Zheng, Jia Pan
2021	A*	`conf`	Balance Control of a Novel Wheel-legged Robot: Design and Experiments. ICRA Shuai Wang, Leilei Cui, Jingfan Zhang, Jie Lai, Dongsheng Zhang, Ke Chen, Yu Zheng, Zhengyou Zhang, Zhong-Ping Jiang
2021	J	`jnl`	Explainable Hierarchical Imitation Learning for Robotic Drink Pouring. CoRR Dandan Zhang, Yu Zheng, Qiang Li, Lei Wei, Dongsheng Zhang, Zhengyou Zhang
2021	J	`jnl`	Learning-Based Balance Control of Wheel-Legged Robots. IEEE Robotics Autom. Lett. Leilei Cui, Shuai Wang, Jingfan Zhang, Dongsheng Zhang, Jie Lai, Yu Zheng, Zhengyou Zhang, Zhong-Ping Jiang
2021	J	`jnl`	Living Object Grasping Using Two-Stage Graph Reinforcement Learning. IEEE Robotics Autom. Lett. Zhe Hu, Yu Zheng, Jia Pan
2021	A	`conf`	Run Like a Dog: Learning Based Whole-Body Control Framework for Quadruped Gait Style Transfer. IROS Fulong Yin, Annan Tang, Liangwei Xu, Yue Cao, Yu Zheng, Zhengyou Zhang, Xiangyu Chen
2021	J	`jnl`	The Realization of Intelligent Robot System for Milk Tea Production. IEEE Robotics Autom. Lett. Bin Hu, Xiaodong Zhang, Tianju Ding, Xisong Dong, Bidan Huang, Yu Zheng
2021	J	`jnl`	Type Synthesis of 2T1R Planar Parallel Mechanisms and Their Moduling Development Applications. IEEE Access Dongsheng Zhang, Yu Zheng, Lei Wei, Jing Wu, Yundou Xu, Yongsheng Zhao
2020	A	`conf`	A Flexible Dual-Core Optical Waveguide Sensor for Simultaneous and Continuous Measurement of Contact Force and Position. IROS Zhong Zhang, Yu Zheng, Jia Pan, Xiong Li, Kaiwei Li, Zhengyou Zhang
2020	J	`jnl`	Calculating the Support Function of Complex Continuous Surfaces With Applications to Minimum Distance Computation and Optimal Grasp Planning. IEEE Trans. Robotics Yu Zheng, Kaiyu Hang
2020	A	`conf`	Gain Scheduled Controller Design for Balancing an Autonomous Bicycle. IROS Shuai Wang, Leilei Cui, Jie Lai, Sicheng Yang, Xiangyu Chen, Yu Zheng, Zhengyou Zhang, Zhong-Ping Jiang
2019	J	`jnl`	Computing the best grasp in a discrete point set with wrench-oriented grasp quality measures. Auton. Robots Yu Zheng
2018	J	`jnl`	Real-time contact force distribution using a polytope hierarchy in the grasp wrench set. Robotics Auton. Syst. Yu Zheng
2017	J	`jnl`	An efficient algorithm for minimum zone flatness based on the computation of the largest inscribed ball in a symmetric polyhedron. Comput. Aided Des. Yu Zheng
2017	J	`jnl`	Bioinspired Control of Walking With Toe-Off, Heel-Strike, and Disturbance Rejection for a Biped Robot. IEEE Trans. Ind. Electron. Xuechao Chen, Zhangguo Yu, Weimin Zhang, Yu Zheng, Qiang Huang, Aiguo Ming
2017	A*	`conf`	Computing the best grasp in a discrete point set. ICRA Yu Zheng
2016	J	`jnl`	Computing the Globally Optimal Frictionless Fixture in a Discrete Point Set. IEEE Trans. Robotics Yu Zheng
2015	A*	`conf`	Adapting human motions to humanoid robots through time warping based on a general motion feasibility index. ICRA Yu Zheng, Katsu Yamane
2015	J	`jnl`	Generalized Distance Between Compact Convex Sets: Algorithms and Applications. IEEE Trans. Robotics Yu Zheng, Katsu Yamane
2013	J	`jnl`	An Efficient Algorithm for a Grasp Quality Measure. IEEE Trans. Robotics Yu Zheng
2013	A*	`conf`	An efficient algorithm for the generalized distance measure. ICRA Yu Zheng, Katsu Yamane
2013	A*	`conf`	Evaluation of grasp force efficiency considering hand configuration and using novel generalized penetration distance algorithm. ICRA Yu Zheng, Katsu Yamane
2013	J	`jnl`	Ray-Shooting Algorithms for Robotics. IEEE Trans Autom. Sci. Eng. Yu Zheng, Katsu Yamane
2012	J	`jnl`	On Computing Reliable Optimal Grasping Forces. IEEE Trans. Robotics Yu Zheng, Ming C. Lin, Dinesh Manocha
2012	C	`conf`	Ray-Shooting Algorithms for Robotics. WAFR Yu Zheng, Katsu Yamane
2011	J	`jnl`	A GJK-based approach to contact force feasibility and distribution for multi-contact robots. Robotics Auton. Syst. Yu Zheng, Chee-Meng Chew, Albertus Hendrawan Adiwahono
2011	A*	`conf`	Ball walker: A case study of humanoid robot locomotion in non-stationary environments. ICRA Yu Zheng, Katsu Yamane
2011	J	`jnl`	Efficient simplex computation for fixture layout design. Comput. Aided Des. Yu Zheng, Ming C. Lin, Dinesh Manocha
2011	—	`conf`	Optimization and control of cyclic biped locomotion on a rolling ball. Humanoids Yu Zheng, Katsu Yamane
2010	A*	`conf`	A fast n-dimensional ray-shooting algorithm for grasping force optimization. ICRA Yu Zheng, Ming C. Lin, Dinesh Manocha
2010	J	`jnl`	A geometric approach to automated fixture layout design. Comput. Aided Des. Yu Zheng, Chee-Meng Chew
2010	A	`conf`	A walking pattern generator for biped robots on uneven terrains. IROS Yu Zheng, Ming C. Lin, Dinesh Manocha, Albertus Hendrawan Adiwahono, Chee-Meng Chew
2010	—	`conf`	Efficient simplex computation for fixture layout design. Symposium on Solid and Physical Modeling Yu Zheng, Ming C. Lin, Dinesh Manocha
2010	J	`jnl`	New advances in automatic selection of eligible surface elements for grasping and fixturing. Robotica Yu Zheng, Wen-Han Qian
2010	J	`jnl`	Truncated Fourier series formulation for bipedal walking balance control. Robotica Lin Yang, Chee-Meng Chew, Yu Zheng, Aun Neow Poo
2009	A*	`conf`	A numerical solution to the ray-shooting problem and its applications in robotic grasping. ICRA Yu Zheng, Chee-Meng Chew
2009	J	`jnl`	Bio-Inspired Locomotion Control with Coordination between Neural oscillators. Int. J. Humanoid Robotics Weiwei Huang, Chee-Meng Chew, Yu Zheng, Geok-Soon Hong
2009	J	`jnl`	Distance Between a Point and a Convex Cone in n -Dimensional Space: Computation and Applications. IEEE Trans. Robotics Yu Zheng, Chee-Meng Chew
2009	J	`jnl`	Improving grasp quality evaluation. Robotics Auton. Syst. Yu Zheng, Wen-Han Qian
2008	—	`conf`	A New Distance Algorithm and Its Application to General Force-Closure Test. RAM Yu Zheng, Chee-Meng Chew
2008	—	`conf`	Pattern generation for bipedal walking on slopes and stairs. Humanoids Weiwei Huang, Chee-Meng Chew, Yu Zheng, Geok-Soon Hong
2006	J	`jnl`	A Fast Procedure for Optimizing Dynamic Force Distribution in Multifingered Grasping. IEEE Trans. Syst. Man Cybern. Part B Yu Zheng, Wen-Han Qian
2005	J	`jnl`	Coping with the Grasping Uncertainties in Force-closure Analysis. Int. J. Robotics Res. Yu Zheng, Wen-Han Qian
2005	J	`jnl`	Dynamic Force Distribution in Multifingered Grasping by Decomposition and Positive Combination. IEEE Trans. Robotics Yu Zheng, Wen-Han Qian
2005	J	`jnl`	Simplification of the ray-shooting based algorithm for 3-D force-closure test. IEEE Trans. Robotics Yu Zheng, Wen-Han Qian