Publications

Book:

1. C. C. Cheah and X. Li, Task-Space Sensory Feedback Control of Robot Manipulator, Springer, 2015.

Selected Journal Publication:

1. X. Yan, Y. Jiang, C. Chen, L. Gong, M. Ge, T. Zhang, and X. Li*, "A complementary framework for human-robot collaboration with a mixed AR-haptic interface,"  IEEE Transactions on Control Systems Technology, 2023, accepted.

2. F. Liu, F. Sun, B. Fang, X. Li, S. Sun, and H. Liu, "Hybrid robotic grasping with a soft multimodal gripper and a deep multistage learning scheme,"  IEEE Transactions on Robotics (TRO), vol. 39, no. 3, pp. 2379-2399, 2023.

3. Y. Huo, Xiang Li*, X. Zhang, Xiu Li, and D. Sun, "Adaptive intention-driven variable impedance control for wearable robots with compliant actuators," IEEE Transactions on Control Systems Technology, (Regular Paper), vol. 31, no. 3, pp. 1308-1323, 2023.

4. Y. Gao, Z. Chen, Y. Ling, J. Yang, Y.-H. Liu, and X. Li*, "A hierarchical manipulation scheme for robotic sorting of multiwire cables with hybrid vision,"  IEEE/ASME Transactions on Mechatronics, (Regular Paper), vol. 28, no. 2, pp. 860-872, 2023.

5. M. Yu, K. Lv, H. Zhong, S. Song, and X. Li*, "Global model learning for large deformation control of elastic deformable linear objects: An efficient and adaptive approach,”  IEEE Transactions on Robotics (TRO), vol. 39, no. 1, pp. 417-436, 2023.

6. J. Zhu, A. Cherubini, C. Dune, D. Navarro-Alarcon, F. Alambeigi, D. Berenson, F. Ficuciello, K. Harada, J. Kober, X. Li, J. Pan, W. Yuan, and M. Gienger, "Challenges and outlook in robotic manipulation of deformable objects," IEEE Robotics and Automation Magazine, vol. 29, no. 3, pp. 67-77, 2022.

7. Xiang Li, X. Zhang, Xiu Li, J. Long, J. Li, L. Xu, G. Chen, and J. Ye, "BEAR-H: An intelligent bilateral exoskeletal assistive robot for smart rehabilitation," IEEE Robotics and Automation Magazine, vol. 29, no. 3, pp. 34-46, 2022 (presented at IROS 2022, Kyoto).

8. Y. Huo, P. Li, D. Chen, Y.-H. Liu, and X. Li*, "Model-free adaptive impedance control for autonomous robotic sanding," IEEE Transactions on Automation Science and Engineering (Regular Paper), vol. 19, no. 4, pp. 3601-3611, 2022.

9. X. Li, X. Su, and Y.-H. Liu, "Vision-based robotic manipulation of flexible PCBs," IEEE/ASME Transactions on Mechatronics, (Regular Paper), vol. 23, no. 6, pp. 2739-2749, 2018 (presented at AIM 2019, Hong Kong).

10. X. Li, Y.-H. Liu, and H. Yu, "Iterative learning impedance control for rehabilitation robots driven by series elastic actuators," Automatica, vol. 90, pp. 1-7, 2018.

11. X. Li and C. C. Cheah, "Stochastic optical trapping and manipulation of micro object with neural network adaptation," IEEE/ASME Transactions on Mechatronics, (Regular Paper), vol. 22, no. 6, pp. 2633-2642, 2017.

12. X. Li, Y. Pan, G. Chen, and H. Yu, "Multi-modal control scheme for rehabilitation robotic exoskeletons," The International Journal of Robotics Research (IJRR), vol. 36, no. 5-7, pp. 759-777, 2017.

13. X. Li, Y. Pan, G. Chen, and H. Yu, "Adaptive human-robot interaction control for robots driven by series elastic actuators," IEEE Transactions on Robotics (TRO), (Regular Paper), vol. 33, no. 1, pp. 169-182, 2017.

14. X. Li, C. C. Cheah, and Q. M. Ta, "Cooperative optical trapping and manipulation of multiple cells with robot tweezers," IEEE Transactions on Control Systems Technology, (Regular Paper), vol. 25, no. 5, pp. 1564-1575, 2017.

15. X. Li, Y. Pan, G. Chen, and H. Yu, "Continuous tracking control for a compliant actuator with two-stage stiffness," IEEE Transactions on Automation Science and Engineering, (Regular Paper), vol. 15, no. 1, pp. 57-66, 2018.

16. X. Li and C. C. Cheah, "A simple trapping and manipulation method of biological cell using robot-assisted optical tweezers: Singular perturbation approach," IEEE Transactions on Industrial Electronics, (Regular Paper), vol. 64, no. 2, pp. 1656-1663, 2017.

17. X. Li, G. Chi, S. Vidas, and C. C. Cheah, "Human-guided robotic co-manipulation: Two illustrative scenarios," IEEE Transactions on Control Systems Technology, (Regular Paper), vol. 24, no. 5, pp. 1751-1763, 2016.

18. X. Li and C. C. Cheah, "Tracking control for optical manipulation with adaptation of trapping stiffness," IEEE Transactions on Control Systems Technology, (Regular Paper), vol. 24, no. 4, pp. 1432-1440, 2015.

19. X. Li and C. C. Cheah, “Robotic cell manipulation using optical tweezers with unknown trapping stiffness and limited field of view,” IEEE/ASME Transactions on Mechatronics, (Regular Paper), vol. 20, no. 4, pp. 1624-1632, 2014.

20. C. C. Cheah, X. Li*, X. Yan and D. Sun, “Simple PD control scheme for robotic manipulation of biological cell,” IEEE Transactions on Automatic Control (TAC), vol. 60, no. 5, pp. 1427-1432, 2014.

21. X. Li and C. C. Cheah, “Adaptive neural network control of robot based on a unified objective bound,” IEEE Transactions on Control Systems Technology, (Regular Paper), vol. 22, no. 3, pp. 1032-1043, 2013.

22. C. C. Cheah, X. Li*, X. Yan and D. Sun, “Observer based optical manipulation of biological cells with robotic tweezers,” IEEE Transactions on Robotics (TRO), (Regular Paper), vol. 30, no. 1, pp. 68-80, 2013.

23. X. Li, C. C. Cheah, S. Hu and D. Sun, “Dynamic trapping and manipulation of biological cells with optical tweezers,” Automatica, (Regular Paper), vol. 49, no. 6, pp. 1614-1625, 2013.

24. X. Li and C. C. Cheah, “Global task-space adaptive control of robot,” Automatica, (Regular Paper), vol. 49, no. 1, pp. 58-69, 2013.

Selected Conference Publication:

1. Y. Shu, Y. Chen, X. Zhang, S. Zhang, G. Chen, J. Ye, and X. Li*, "Two-stage trajectory-tracking control of cable-driven upper-limb exoskeleton robots with series elastic actuators: A simple, accurate, and force-sensorless method,"  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, accepted.

2. Y. Jiang, Y. Jia, and X. Li*, "Contact-aware non-prehensile robotic manipulation for object retrieval in cluttered environments," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, accepted.

3. K. Lv, M. Yu, Y. Pu, X. Jiang, G. Huang, and X. Li*, "Learning to estimate 3-D states of deformable linear objects from single-frame occluded point clouds," IEEE International Conference on Robotics and Automation (ICRA), pp. 7119-7125, 2023.

4. M. Yu, K. Lv, C. Wang, M. Tomizuka, and X. Li*, "A coarse-to-fine framework for dual-arm manipulation of deformable linear objects with whole-body obstacle avoidance," IEEE International Conference on Robotics and Automation (ICRA), pp. 10153-10159, 2023.

5. X. Zhang, Y. Shu, Y. Chen, G. Chen, J. Ye, Xiu Li, and Xiang Li*, "Multi-modal learning and relaxation of physical conflict for an exoskeleton robot with proprioceptive perception," IEEE International Conference on Robotics and Automation (ICRA), pp. 10490-10496, 2023.

6. Y. Jia, Y. Chen, H. Liu, Xiu Li, and Xiang Li*, "Hierarchical learning and control for in-hand micromanipulation using multiple laser-driven micro-tools," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1047-1054, 2022.

7. M. Yu, H. Zhong, and X. Li*, "Shape control of deformable linear objects with offline and online learning of local linear deformation models," IEEE International Conference on Robotics and Automation (ICRA), pp. 1337-1343, 2022.

8. X. Yan, C. Chen, and X. Li*, "Adaptive vision-based control of redundant robots with null-space interaction for human-robot collaboration," IEEE International Conference on Robotics and Automation (ICRA), pp. 2803-2809, 2022.

9. S. Miao, D. Chen, Q. Nie, X. Jiang, Y.-H. Liu*, and X. Li*, “Development of a vision-based robotic manipulation system for transferring of oocytes," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7470-7475, 2021.

10. Y. Zhou, X. Li*, L. Yue, L. Gui, G. Sun, X. Jiang, and Y.-H. Liu, “Global vision-based impedance control for robotic wall polishing," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6022-6027, 2019.

11. Y. Huo, D. Chen, X. Li*, P. Li, and Y.-H. Liu, “Development of an autonomous sanding robot with structured-light technology," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2855-2860, 2019.

12. G. Sun, X. Li*, L. Yue, P. Li, Y. Zhou, and Y.-H. Liu, “Adaptive vision-based control for rope-climbing robot manipulator," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1454-1459, 2019.

13. C. Jiao, X. Jiang, X. Li, and Y.-H. Liu, "Vision based cable assembly in constrained environment," IEEE International Conference on Robotics and Biomimetics, pp. 8-13, 2018 (T. J. Tarn Best Paper in Robotics).

14. Z. Wang, X. Li*, D. Navarro-Alarcon, and Y.-H. Liu, “A unified controller for region-reaching and deforming of soft objects," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 472-478, 2018.

15. X. Li, X. Su, Y. Gao, and Y.-H. Liu, “Vision-based robotic grasping and manipulation of USB wires,” IEEE International Conference on Robotics and Automation (ICRA), pp. 3482-3487, 2018.

16. G. Sun, X. Li*, P. Li, Y. Meng, Y. Zhou, E. Xu, and Y.-H. Liu, “A synchronization scheme for position control of multiple rope-climbing robots,” IEEE International Conference on Robotics and Automation (ICRA), pp. 3736-3741, 2018.

17. X. Li, X. Su, and Y.-H. Liu, "Cooperative robotic soldering of flexible PCBs," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1651-1656, 2017, (Best Application Paper Finalists).

18. X. Li, X. Su, and Y.-H. Liu, "Adaptive region control for robotic soldering of flexible PCBs," International Conference on Advanced Robotics, pp. 216-221, 2017, (Best Paper in Robotic Control).

19. X. Li, G. Chen, Y. Pan, and H. Yu, “Region control for robots driven by series elastic actuators,” IEEE International Conference on Robotics and Automation (ICRA), pp. 1102-1107, 2016.

20. X. Li, X. Yan, and C. C. Cheah, “Robot-assisted optical trapping and manipulation of a biological cell with stochastic perturbation,” IEEE International Conference on Robotics and Automation (ICRA), pp. 5236-5241, 2016.

21. X. Li and C. C. Cheah, “Human-guided robotic manipulation: theory and experiments,” IEEE International Conference on Robotics and Automation (ICRA),  pp. 4594-4599, 2014.

22. X. Li, C. C. Cheah, X. Yan, and D. Sun, “Robotic cell manipulation using optical tweezers with limited FOV,” IEEE International Conference on Robotics and Automation (ICRA),  pp. 4594-4599, 2014.

23. C.C. Cheah, X. Li, X. Yan, D. Sun, and H.C. Liaw, “A simple setpoint controller for dynamic manipulation of biological cells using optical tweezers,” IEEE Conference on Decision and Control (CDC), pp. 3379-3384, 2013.

24. X. Li and C. C. Cheah, “Uncalibrated vision-based control for optical manipulation of microscopic particles,” IFToMM International Symposium on Robotics and Mechatronics (IFToMM), pp. 106-115, 2013, (Highly Commended Paper Award).

25. X. Li and C. C. Cheah, “Adaptive regional feedback control of robot manipulator with uncertain kinematics and depth information,” American Control Conference (ACC), pp. 5472-5477, 2012.

26. X. Li and C. C. Cheah, “Dynamic region control for robot-assisted cell manipulation using optical tweezers,” IEEE International Conference on Robotics and Automation (ICRA),  pp. 1057-1062, 2012.

27. X. Li and C. C. Cheah, “Multiple task-space robot control: sense locally, act globally,” IEEE International Conference on Robotics and Automation (ICRA),  pp. 265-270, 2012.

28. C. C. Cheah and X. Li, “Singularity-robust task-space tracking control of robot,” IEEE International Conference on Robotics and Automation (ICRA),  pp. 5819-5824, 2011.

29. C. C. Cheah and X. Li, “Reach then see: a new adaptive controller for robot manipulator based on dual task-space information,” IEEE International Conference on Robotics and Automation (ICRA), pp. 5155-5160, 2010.

Patents:

1. 李翔，张轩，李秀，用于柔性驱动机器人的自适应变阻抗控制方法、系统与设备，中国发明专利，ZL 2021 1 1153304.8，2023

* Corresponding Author