Chao Liu

Chao Liu
Massachusetts Institute of Technology | MIT · Computer Science and Artificial Intelligence Laboratory

About

18
Publications
1,069
Reads
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119
Citations
Introduction
I am currently a Postdoctoral Associate at MIT CSAIL working with Professor Daniela Rus. I obtained my Ph.D. degree from the University of Pennsylvania advised by Professor Mark Yim (ModLab (Modular Robotics Lab in GRASP Lab)). My PhD thesis is about modular robotics, control, and motion planning. I was mainly working on two self-reconfigurable modular robots: SMORES-EP and Variable Topology Truss.

Publications

Publications (18)
Preprint
Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume constraints such as modular robots are particularly difficult. PaintPots are low-cost, reliable, and highly customiz...
Preprint
Truss robots are highly redundant parallel robotic systems and can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robot. As self-reconfigurable modular robots, variable topology trusses are composed of many edge modules that can be rearranged into various structures with respect to different acti...
Article
Full-text available
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion planning problem. Real-time control brings about more difficulties in which robots have to maintain the stability whi...
Preprint
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion planning problem. Real-time control brings about more difficulties in which robots have to maintain the stability whi...
Preprint
Full-text available
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree topologies. These modular robots form kinematic chains that have been shown to be capable of a large variety of man...
Article
Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume constraints such as modular robots are particularly difficult. PaintPots are a low-cost, reliable, and highly custom...
Chapter
Modular robots are usually composed of multiple blocks with uniform docking interfaces that can be transformed into different configurations. It is a significant challenge to recognize modular robot configurations composed of hundreds of modules. Given a new configuration, it is important to match it to an existing configuration and, if true, map e...
Article
Self-reconfigurable modular robots are usually composed of multiple modules with uniform docking interfaces that can be transformed into different configurations by themselves. The reconfiguration planning problem is finding what sequence of reconfiguration actions are required for one arrangement of modules to transform into another. We present a...
Conference Paper
Full-text available
Variable topology truss (VTT) is a new class of self-reconfigurable robot. A variable topology truss can change both its shape and its topology so that it can be reconfigured into various structures with respect to different environments and tasks. It is a significant challenge to control modular robot systems due to the complexity of its configura...
Conference Paper
This paper is an initial step toward the realization of an aerial robot that can perform lateral physical work, such as drilling a hole or fastening a screw in a wall. Aerial robots are capable of high maneuverability and can provide access to locations that would be difficult or impossible for ground-based robots to reach. However, to fully utiliz...
Conference Paper
Full-text available
Modular robots are usually composed of multiple blocks with uniform docking interfaces that can be transformed into different configurations. It is a significant challenge to recognize modular robot configurations composed of hundreds of modules. Given a new configuration, it is important to match it to an existing configuration and, if true, map e...

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