My CV and lists of publications

PH.D. of Computer Science

Email: liqiang1@sztu.edu.cn;

          qiang.li.mail@gmail.com

Research Interests

• Autonomous grasping and dexterous manipulation

• Sensing, data fusion and estimation for autonomous systems

• Visuo-tactile-force servoing control

• Vision, tactile based object recognition

• Robotic teleoperation and telepresence

• Underwater vehicle navigation and control

• Robotic calibration

Education

• Ph.D: Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China , September, 2005 – July, 2009, Advisor: Professor Xiaohui Wang, Underwater Robot Research Center

• University of Science and Technology of China,Hefei, China, Cybernatic department, master course, September, 2004.9- July, 2005

• Mechanical and Electrical Engineering Bachelor, Beijing Institute of Technology, Beijing, China,1997—2001

Research and Professional Experience

• 2023-now: Professor, Shenzhen Technology University, China

• 2020--2023: Principal Investigator, Bielefeld University, Germany

• 2019--2020: Principle Scientific researcher, Tencent Robotics X Lab, China

• 2012-- 2018: Senior Scientific researcher, NeuroInfomatik Group, Bielefeld University, Germany

• 2015.12: visiting researcher, High Performance Humanoid Technologies Lab (H2T), KIT,Germany

• 2009—2012: Postdoc, Institute for Cognition and Robotics,Bielefeld University, Germany 

• 2004—2009: Research Assistant, Underwater Vehicle Research Center, Shenyang Institute of Automation, Chinese Academy of Sciences

• 2001–2004: Software Engineer, Underwater Vehicle Research Center, Shenyang Institute of Automation, Chinese Academy of Sciences

Publications

Journal paper:

• Guanghui Liu, Qiang Li, Zhixu, Zhu, and Hualiang Zhang “A high-precision framework for identifying physical feasibility parameters of robot dynamics”, submitted to IEEE Robotics and Automation Letters (RA-L).

• Guanghui Liu, Qiang Li, Hualiang Zhang , “A NURBS parametric interpolator with minimal feedrate fluctuation for robots using a fast feedback iteration algorithm”, submitted to Journal of Mechanisms and Robotics-Transactions of the ASME

• Weiyi Zhang, Yushi Guo, Liting Niu, Peijun Li, Zeyu Wan, Fei Shao, Fasih UdDin Farrukh, Debing Zhang, Chun Zhang*, Qiang Li*, Jianwei Zhang, "LP-SLAM: Language-Perceptive RGB-D SLAM Framework Exploiting Large Language Model", Accepted by Complex & Intelligent Systems, Mar, 2024

• Guanghui Liu, Qiang Li, Bohan Yang, Hualiang Zhang, Lijin Fang, “An efficient linear programming-based time-optimal feedrate planning considering kinematic and dynamics constraints of robots ”, IEEE Robotics and Automation Letters (RA-L), DOI: 10.1109/LRA.2024.3359547 .

• Guanghui Liu, Qiang Li, Lijin Fang and Hualiang Zhang, “ Towards Robust Physical Human Robot Interaction by an Adaptive Admittance Controller”, Vol 109, 59, doi: 10.1007/s10846-023-01999-9, Journal of Intelligent and Robotic Systems, 2023

• Qiguang Lin, Chaojie Yan, Qiang Li, Yonggen Ling, Wangwei Li, Yu Zheng, Bidan Huang, Xiaofeng Liu, "Tracking Object's Pose via Dynamic Tactile Interaction", doi: 10.1142/S0219843623500214, International Journal of Humanoid Robotics, 2003

• Shuaijun Wang, Lining Sun, Mantian Li, Pengfei Wang, Fusheng Zha, Wei Guo and Qiang Li, "Learning an image-based visua servoing controller for object grasping", dio: 10.1142/S0219843623500330, International Journal of Humanoid Robotics,2023

• Gaofeng Li, Qiang Li, Chenguang Yang, Yuan Su, Zuqiang Yuan, and Xinyu Wu, "The Classification and New Trends of Shared Control Strategies in Telerobotic Systems: A Survey", IEEE Transactions on Haptics, , vol. 16, no. 2, pp. 118-133, April-June 2023, doi: 10.1109/TOH.2023.3253856 

• Lijin Fang, Guanghui Liu, Qiang Li and Hualiang Zhang“ A high precision NURBS interpolator based on S-shape feed rate scheduling”, The International Journal of Advanced Manufacturing Technology, 2022，DOI: 10.1007/s00170-022-09411-w 

• Bin Fang, Qiang Li, Fei Chen, Weiwei Wan, "Dexterous manipulation", Industrial Robots,DOI 10.1108/IR-06-2022-460 [Editorial] 

• Zhenshan Bing, Fei Chen, Rui Li, Junpei Zhong and Qiang Li，“Biological-Inspired Autonomous Mobile Manipulation: Challenges in Design, Control, and Real-World Applications”, Frontiers in Neurorobotics, DOI: 10.3389/fnbot.2022.928465 [Editorial]

• Qiang Li, Chao Liu, Chenguang Yang. Fei Chen and Helge Ritter, "Robotic dexterous manipulation: from tele-operation to autonomous learning and adaptive control", Complex & Intelligent System, DOI: 10.1007/s40747-022-00773-y [Editorial]

• Dandan Zhang, Qiang Li, Yu Zheng, Lei Wei, Dongsheng Zhang and Zhengyou Zhang, “ Explainable Hierarchical Imitation Learning for Robotic Drink Pouring”, IEEE Transactions on Automation Science and Engineering (T-ASE),  DOI: 10.1109/TASE.2021.3138280

• Liangliang Wang, Qiang Li, James Lam, Zheng Wang, "Tactual recognition of soft objects from deformation cues" , IEEE Robotics and Automation Letters (RA-L), Digital Object Identifier: 10.1109/LRA.2021.3119393, 2021

• Dong Wei, Bidan Huang and Qiang Li, "Multi-view Merging for Robot Teleoperation with Virtual Reality", IEEE Robotics and Automation Letters (RA-L), 2377-3766, DOI: 10.1109/LRA.2021.3109348

• Liangliang Wang, Qiang Li, James Lam, Zheng Wang and Zhengyou Zhang, "Intent inference in shared-control teleoperation system in consideration of user behavior", Complex & Intelligent System, DOI: 10.1007/s40747-021-00533-4,2021

• Abdeldjallil Naceri, Tobias Schumacher, Qiang Li, Sylvain Calinon, Helge Joachim Ritter, "Learning optimal impedance control during 3D arm movements",  IEEE Robotics and Automation Letters (RA-L), 1248 - 1255 , April 2021, Volume: 6, Issue: 2, DOI: 10.1109/LRA.2021.3056371

• Qiang Li, Oliver Kroemer, Zhe Su, Filipe Fernandes Veiga, Mohsen Kaboli, Helge Joachim Ritter, "A Review of Tactile Information: Perception and Action Through Touch", IEEE Transaction on Robotics, 1619-1634, DECEMBER 2020 ,Vol36, Issue 6,  DOI: 10.1109/TRO.2020.3003230

• Guanghui Liu, Qiang Li, Lijin Fang, Bing Han, Hualiang Zhang, "A New Joint Friction Model for Parameter Identification and Sensor-less Hand guiding in Industrial Robots", Industrial Robot, Vol. 47 No. 6, pp. 847-857. https://doi.org/10.1108/IR-03-2020-0053

• Jing Luo, Chenguang Yang, Qiang Li and Min Wang, "A Task Learning Mechanism for the Telerobots",International Journal of Humanoid Robotics, Vol.16, No.2 (2019)  

• Chao ZENG  Chenguang YANG, Qiang Li and Shilu Dai，“Research Progress on Human-Robot Skill Transfer”,  ACTA AUTOMATICA SINICA,  2019, 45(10): 1813-1828. doi: 10.16383/j.aas.c180397, (In Chinese) 

• Qiang Li. Lorenzo Natale. Robert Haschke. Andrea Cherubini. Anh-Van Ho. Helge Ritter, “Tactile sensing for manipulation”, International Journal of Humanoid Robotics, Vol.15, No.1 (2018)  

• Qiang Li, Martin Meier, Robert Haschke, Helge Ritter and Bram Bolder, "Rotary object dexterous manipulation in hand: a feedback-based method", Int. J. Mechatronics and Automation, Vol. 3, No. 1, 2013 (invited paper)

• Jiancheng Yu, Qiang Li, Aiqun Zhang, Xiaohui Wang, “Neural network adaptive control for underwater vehicles”, Control Theory and Applications, Vol 25, No.1, Feb, 2008 (in Chinese) (pdf)

• Qifeng Zhang, Yuangui Tang, Qiang Li and Aiqun Zhang, “Construction and Simulation Research of an Underwater Vehicle-Manipulator System”, Ocean Technology, Vol 26, No.1, March, 2007 (in Chinese) (pdf)

Conference paper (peer-reviewed):

• Lei Zhang, Kaixin Bai, Qiang Li, Zhaopeng Chen, Jianwei Zhang, “ A Collision-Aware Cable Grasping Method in Cluttered Environment“, Accepted by ICRA2024

• Shuai WANG, YIHAO HUANG, Wang Wei Lee, Tianliang Liu, Xiao Teng, Yu Zheng, Qiang Li, “A Robust Model Predictive Controller for Tactile Servoing”, Accepted by ICRA2024

• Qiguang Lin, Chaojie Yan, Yonggen Ling, Yu Zheng, Bidan Huang, Qiang Li, Xiaofeng Liu, “ Tracking object's pose via dynamic tactile interaction”, Presented in ICARM2023

• Qiang Li, Nathan Lepora, "Tactile servoing" IROS2022 Tutorial

• Hanzhong Liu, Bidan Huang, Qiang Li, Yu Zheng, Yonggen Ling, Wang Wei Lee, Yi Liu, Ya-Yen Tsai, Chenguang Yang, “ Multi-finger Tactile Servoing for Grasping Adjustment under Partial Observation”,  IROS2022

• Qiang Li,  ChaoLiu, Feichen, Nathan Lepora and Helge Ritter, "Dexterous manipulation in the real-contact context: new progress and challenges", IROS2021WS

• Shaowei Cui, Qiang Li, Yinghao Cai, and Shuo Wang, "In-Hand Object Localization Using GelStereo Visuotactile Sensing", IROS2021WS-Dexterous manipulation

• Chao Zeng, Shuang Li, YIMING JIANG, Qiang Li, Zhaopeng Chen, Chenguang Yang, Jianwei Zhang, "Learning compliant grasping and manipulation by teleoperation with adaptive force control", IROS2021

• Abdeldjallil Naceri, Tobias Schumacher, Qiang Li, Sylvain Calinon, Helge Joachim Ritter, "Learning optimal impedance control during 3D arm movements", Presented in ICRA2021

• Nicholas Timmons , Bidan Huang and Qiang Li, "Augmented Reality with Multi-view Merging for Robot Teleoperation ", Presented in HRI2020 

• Qiang Li, Zhaopeng Chen, Junpei Zhong, Chenguang Yang and Helge Ritter, "From Robotic Dexterous Manipulation to Manual Intelligence", IEEE RAS Humanoids2018 WS Proposal

• Qiang Li,  Andre Ueckermann, Robert Haschke, and Helge Ritter, "Estimating an articulated tool's kinematics via visuo-tactile based robotic interactive manipulation", Presented in IEEE IROS2018

• Mohsen Kaboli , Jeannette Bohg , Qiang Li , Filipe Fernandes Veiga , Zhe Su , Gordon Cheng , RoboTac: New Progress in Tactile Perception and Learning in Robotics , IEEE IROS2018 WS Proposal

• Miao. Li, Hao. Ding, Qiang. Li and Zhaopeng. Chen, "Sensor-Based Object Manipulation for Collaborative Assembly ", IEEE ICRA2017 WS Proposal

• Qiang Li,  Robert Haschke, Helge Ritter,  "Learning a Tool’s Homogeneous Transformation by Tactile-based Interaction", IEEE Humanoids2016, 15-17, Nov,2016, Cancun, Mexico

• Qiang Li, Adrea Cherubini,  Anh-Van Ho, Lorenzo Natale, Zhe Su  and Filipe Veiga , "Tactile Sensing for Manipulation", IEEE Humanoids2016 WS Proposal

• Qiang Li,  Robert Haschke, Helge Ritter,  "Towards Body Schema Learning using Training Data Acquired by Continuous Self-touch", IEEE Humoids2015, 3-5,Nov,2015, Seoul,Korea

• Qiang Li,  Robert Haschke, Helge Ritter, "A Visuo-Tactile Control Framework for Manipulation and Exploration of Unknown Objects", IEEE Humoids2015, 3-5,Nov,2015, Seoul,Korea

• Qiang Li,  Robert Haschke, Helge Ritter, "Object Exploration by Visuo-tactile Servoing", Published by ICDL 2014 WS: Body Schema Learning (invited paper)

• Qiang Li, CarstenSchürmann, Robert Haschke, Helge Ritter,  "A control framework for tactile servoing", Oral presentation by Robotics: Science and Systems 2013(accept rate: 30%, oral presentation chance: 3%)

• QiangLi, Christof Elbrechter, Robert Haschke, Helge Ritter, "Integrating vision, haptics and proprioception into a feedback controller for in-hand manipulation of unknown objects", Published by IEEE IROS2013.

• Qiang Li, Robert Haschke, Helge Ritter, "Towards Autonomous Visual-tactile Exploration and Manipulation" Published by IEEE ICRA2013 WS: Interactive Perception.

• Qiang Li, Robert Haschke, Helge Ritter, "Two-fingered, tactile-based manipulation of unknown objects" Published by RSS2013-WS: Sensitive Robotics.

• Qiang Li, Robert Haschke, Helge Ritter and Bram Bolder, "Grasp Point Optimization by Online Exploration of Unknown Object Surface",12th IEEE-RAS Intl Conf on Humanoid Robots, 29/11/2012, Osaka, Japan.

• Qiang Li, Robert Haschke, Helge Ritter and Bram Bolder, " Grasp Point Optimization for Unknown Object Manipulation in Hand Task" IROS WS: Beyond Grasping - Modern Approaches for Dynamic Manipulation, 12/10/2012, Vilamoura, Algarve,Portugal

• Qiang Li, Robert Haschke, Helge Ritter and Bram Bolder, "Rotary Surface Object Manipulation by Multifingered Robot Hand", 7th German Conference on Robotics, 21/05/2012, Munich,German

• Qiang Li, Robert Haschke, Helge Ritter and Bram Bolder, "Towards Unknown Object Manipulation", 10th IFAC Symposiums on Robot Control , 05/09/2012, Dubrovnik, Croatia,

• Qiang Li, Martin Meier, Robert Haschke, Helge Ritter and Bram Bolder, "Object Dexterous Manipulation in Hand Based on Finite State Machine", IEEE International Conference onMechatronics and Automation, 05/08/2012, Chengdu,China

• Qiang Li, Robert Haschke, Helge Ritter and Bram Bolder, "Simulation Results for Manipulation of Unknown Objects in Hand", IEEE International Conference on Robotics and Biomimetics(ROBIO), 07,Dec,2011, Phuket Island, Thailand,

• Qiang Li, Qifeng Zhang and Xiaohui Wang, “Underwater Vehicle Motion Parameter Estimation Experiment Based on Low Cost Camera and Inertial Measurement Unit”, International Society of Offshore and Polar Engineers conference, Osaka, Japan, June,2009

• Qiang Li, Qifeng Zhang and Xiaohui Wang, “Dynamic Simulation of Autonomous Manipulation Task for UVMS with Fusing Vision and Inertial Measurements”, International Society of Offshore and Polar Engineers conference, Vancuvour, Canada July,2008

• Qiang Li, Hongli Xu, Qifeng Zhang and Xiaohui Wang, “Dynamics Simulation of Remotely Operated Vehicle-Fiber Optic Micro Cable System”, The 7th World Congress on Intelligent Control and Automation, Chongqing, China, June, 2008

• Qiang Li, Qifeng Zhang and Xiaohui Wang, “Research on Dynamic Simulation of Underwater Vehicle Manipulator Systems”, Oceans’08- MTS/IEEE Kobe, Japan, April,2008

Edited Book

• Qiang Li, Shan Luo, Zhaopeng Chen, Chenguang Yang and Jianwei Zhang, "Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation", Elsevier, 2,April,2022, eBook ISBN: 9780323904179 

Book chaper:

• Qiang Li, Xun Luo, "Tactile Robots: An outlook into the future" ZukunfsDesign, Cuvillier Verlag Goettingen, p152-p156,

• Qiang Li, Robert Haschke, Helge Ritter, “ Towards Dexterous In-Hand Manipulation of Unknown Objects: A Feedback Based Control Approach”, Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation, Academic Press, To be appear

• Shuang Li, Qiang Li, Jianwei Zhang, “ A hand-arm teleoperation system for robotic dexterous manipulation”, Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation, Academic Press, To be appear

Honor and Awards

• 2019-2022：DFG project awarding

• 2018:  Awarded as 10 excellent Chinese young research scientist in Europe

• 2009-2012: Honda fellowship, Honda Research Institute Europe.

Invited Talks

• "Visuo-tactile servoing controller for robot’s interaction manipulation", TUM, Germany 2017

• "Tactile robot’s interaction manipulation", DLR, Germany 2017

• “A visuo-tactile control framework for manipulation and exploration of unknown objects”, Korea Institute of Science and Technology, Nov,2015

• “Unknown object manipulation using Bi-arm setup”, Harbin Institute of Technology, July,2015

• “A tactile servoing framework for unknown object surface exploration”, Tianjin University, July,2015

• "Tactile Seroving framework for unknown object exploration", Shenyang University of Techology, July, 2014

• "Tactile and Vision based unknown object exploring and manipulation", Shenyang Institute of Automation, CAS, June, 2014,2015

• "Towards the unkown object manipulation in hand",Istituto italiano di tecnologia(IIT), iCub-summer school, June, 2013

•  “Unknown Object Manipulation by Reactive Method”, DFKI Robotics Innovation Center, Bremen, April, 2012

• “Unknown Object Manipulation Physics Simulation Result”, Honda Research Institute(EU), Offenbach, Nov, 2011

•  “Construction and Simulation Research on Underwater Vehicle- Manipulator System”, the 3rd Doctor Seminar on Robotology, Northeast University, Shenyang, China, November, 2007

• “Research on Micro Remotely Operated Vehicle Mounted on the Human Occupied Vehicle”, the 2nd deep sea seminar, Hangzhou, China, September 28, 2006.

Professional Activity

   Society member:

• ISOPE Student member(2009-2010)

• IEEE Robotics and Automation Society member(2011-now)

    Editor: 

•  Paladyn Journal of Behavioral Robotics : Editor (2011-now)

•  Special Issue on Tactile perception for manipulation: new progress and challenges in IJHR: Guest Editor (2016)

•  International Journal of Humanoid Robotics: Associate Editor (2018)

• Complex & Intelligent Systems (CAIS) ：Associate Editor (2020)

• IEEE ICRA2021: Associate Editor 

• IEEE IROS2017,2018,2019,2020,2021: Associate Editor

•  IEEE Humanoids2018,2019: Associate Editor

   Reviewer:

• IEEE RAS—Humanoids(2014,2016,2017),IROS(2013,2015,2016,2017,2018,2019,2020),ICRA(2015,2016,2017,2018,2019,2020)

• IEEE Transactions on Automation Science and Engineering (2020,2021)

• IFAC Symposium on Robot Control(2011)

• IFToMM World Congress(2012)

• International Journal of Robotics Research(2017)

• IEEE Transaction on Robotics(2016,2020)

• International Journal Humanoid Robotics(2011,2012,2013,2014,2015)

• Robotics and Autonomous Systems(2012,2014,2021)

• Robotics and Computer Integrated Manufacturing(2015)

• Industrial Robot: An International Journal(2015)

• International Journal of Advanced Robotic Systems(2014,2017)

• Asian Journal of Control(2016)

• Information Fusion Journal, Elsevier(2011)

• NeuroComputing, (2018)

• IEEE Transactions on Cognitive and Developmental Systems (2018)

   Conference/workshop:

• IEEE  ICMA, ICIA, MFI, WCICA Technical Program Community member

• IFAC Symposium on Robot Control 2012, Session Chair

• IEEE Humanoids2015, Session Chair

• Sino-Germany symposium on Intelligent Robots (SGIR), Founder

• IEEE Humanoids2016 WS: Tactile perception for manipulation: new progress and challenges, Organizer

• IEEE ICRA2017 WS: Sensor-Based Object Manipulation for Collaborative Assembly, Co-Organizer

• IEEE IROS2018 WS: RoboTac: New Progress in Tactile Perception and Learning in Robotics, Co-organizer

• IEEE IROS2021 WS: Dexterous manipulation in the real-contact context: new progress and challenges, Organizer

• IEEE Humanoids2018, Publicity co-Chair

• IEEE IROS2022, Publicity co-Chair

   Phd thesis defense committee:

• Dr. Xibin Zhu. Mar, 2015

• Dr. Harshawardhan Ramachandran. May,2016

• Dr. Jeffrey F. Queißer. Aug,2018

• Dr. Omar Waleed Ibraheem . Oct,2018

External Cooperation

• Working with Dr. Bram Bolder and Dr. Michael Gienger from Honda Research Institute Europe in In-hand manipulation project

• Working with Dr. Matej Hoffmann and Prof. Giorgio Metta from Istituto italiano di tecnologia(IIT) in the body-schema learning project

• Working with Dr. Alessandro Roncone from Yale University in the body-schema learning project

• Working with Michael Bechtel, Dr. Stefen Ulbrich and Prof. Tamim Asfour from Karlsruhe Institute of Techonology in the autonomous learning project

• Working with Dr. Abdeldjallil Naceri and Prof. Marc Ernst from Bielefeld University in Human robot interaction project