Publications

Lei Yan, Theodoros Stouraitis, Joao Moura, Wenfu Xu, Michael Gienger, and Sethu Vijayakumar. Impact-Aware Bimanual Catching of Large-Momentum Objects, IEEE Transactions on Robotics (T-RO), Vol. 40, 2024, pp. 1-20.

Li, Junxiang, Wenfu Xu, Wenshuo Li, Lei Yan*, and Bin Liang. Design and Development of Composite Linkage Mechanism for Cable-Driven Segmented Manipulator to Increase Synchronous Accuracy and Transmission Distance. IEEE Robotics and Automation Letters (2023).

Li, Wenshuo, Xi Huang, Lei Yan*, Hongyang Cheng, Bin Liang, and Wenfu Xu. Force Sensing and Compliance Control for a Cable-Driven Redundant Manipulator. IEEE/ASME Transactions on Mechatronics (2023).

Huang, Yifan, Lei Yan, Taiwei Yang, Zhonghua Hu, and Wenfu Xu. Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints. Journal of Mechanisms and Robotics, Vol 15, no. 5 (2023): pp. 1-15.

Mu, Zonggao, Luyang Zhang, Lei Yan*, Zixuan Li, Ruichun Dong, Chengjiang Wang, and Ning Ding. Hyper-Redundant Manipulators for Operations in Confined Space: Typical Applications, Key Technologies, and Grand Challenges. IEEE Transactions on Aerospace and Electronic Systems , Vol. 58, no. 6 (2022), pp: 4928-4937.

Lei Yan, Han Yuan, Wenfu Xu, Zhonghua Hu, and Bin Liang. Kinodynamic Trajectory Optimization of Dual-Arm Space Robot for Stabilizing a Tumbling Target. International Journal of Aerospace Engineering, 2022, pp. 1-16.

Lei Yan, Stouraitis Theodoros, and Sethu Vijayakumar. Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation. IEEE Robotics and Automation Letters, Vol. 6, No. 2 (2021), pp.2311-2318. 

Hu, Bingshan, Lei Yan, Liangliang Han, and Hongliu Yu. Coordinated compliance control of dual-arm robot astronaut for payload operation. International Journal of Advanced Robotic Systems, Vol. 18, no. 3 (2021), pp. 1-15.

Lei Yan, Wenfu Xu, Zhonghua Hu, et al. Multi-objective Configuration Optimization for Coordinated Capture of Dual-arm Space Robot. Acta Astronautica, Vol. 167, No. xx, (2020), pp. 189-200. ( JCR: Q1, IF: 2.796, Full text)

Lei Yan, Wenfu Xu, Zhonghua Hu, et al. Virtual-base Modeling and Coordinated Control of a Dual-arm Space Robot for Target Capturing and Manipulation. Multibody System Dynamics, Vol. 45, No. 4, (2019), pp. 431–455. (JCR: Q1, IF: 2.718, Full Text)

Wenfu Xu, Lei Yan, Zhonghua Hu, et al. Area-Oriented Coordinated Trajectory Planning of Dual-Arm Space Robot for Capturing a Tumbling Target. Chinese Journal of Aeronautics, Vol. 32, No. 9, (2019), pp. 2151-2163. (JCR: Q1, IF: 1.614, Full text)

Wenfu Xu, Zhonghua Hu, Lei Yan, et al. Modeling and planning of a space robot for capturing tumbling target by approaching the Dynamic Closest Point. Multibody System Dynamics, Vol. 47, No. 3, (2019), pp. 203–241. (JCR: Q1, IF: 2.718, Full text)

Jianqing Peng, Wenfu Xu, Lei Yan, Erzhen Pan, et al. A Pose Measurement Method of a Space Non-Cooperative Target Based on Maximum Outer Contour Recognition. IEEE Transactions on Aerospace and Electronic Systems, Vol. 162, No. xx, (2019), pp. 589-607. (JCR: Q1, IF: 2.227, Full text)

Jianqing Peng, Wenfu Xu, Erzhen Pan, Lei Yan, et al. Dual-arm Coordinated Capturing of an Unknown Tumbling Target Based on Efficient Parameters Estimation. Acta Astronautica, Vol. 162, No. xx, (2019), pp. 589-607. (JCR: Q1, IF: 2.227, Full text)

Lei Yan, Han Yuan, Wenfu Xu, et al. Generalized Relative Jacobian Matrix of Space Robot for Dual-Arm Coordinated Capture. Journal of Guidance, Control, and Dynamics, Vol. 41, No. 5 (2018), pp. 1202-1208. (JCR: Q1, IF: 2.024, Full text)

Wenfu Xu, Lei Yan, Zonggao Mu, et al. Dual Arm-angle Parameterisation and its Applications for Analytical Inverse Kinematics of Redundant Manipulators. Robotica, Vol. 34, No. 12 (2016), pp. 2669-2688. (JCR: Q3, IF: 1.554, Full text)

Tianliang Liu, Lei Yan, Liang Han, et al. Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain. International Journal of Advanced Robotic Systems, Vol. 13, No. 3 (2016), pp. 1-14. (JCR: Q3, IF: 0.987, Full text)

Mower, Christopher, Theodoros Stouraitis, Joao Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles, and Sethu Vijayakumar. ROS-PyBullet Interface: A framework for reliable contact simulation and human-robot interaction. Conference on Robot Learning (CoRL), 2023, pp. 1411-1423.

Peng, Kang, Meng Haibin, Lei Yan, and Xu Wenfu. Whole Body Collaborative Planning Method for Legged Locomotion Manipulation System in Operation Process. IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022, pp. 2098-2103. 

Wang, Fengxu, Lei Yan, Junxiang Li, Boyang Lin, and Wenfu Xu. "A Configuration Measurement Method of Cable-Driven Space Manipulator by Link Equivalent Center Points Recognition. IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022, pp. 999-1004. 

Li, Wenshuo, Wenfu Xu, Boyang Lin, and Lei Yan*. Design, Kinematics and Control of a Modular Cable-Driven Manipulator for Fine Manipulation. IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022, pp. 833-838.

Tu, Zhangjie, Tianwei Zhang, Lei Yan, and Tin lun Lam. Whole-Body Control for Velocity-Controlled Mobile Collaborative Robots Using Coupling Dynamic Movement Primitives. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022, pp. 119-126. 

Xiaoyu Zhang, Lei Yan*, Tin Lun Lam, and Sethu Vijayakumar. Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation. IEEE International Conference on Robotics and Automation (ICRA), 2021 : 1-8. (*Corresponding author)

Lei Yan, Bingshan Hu, and Sethu Vijayakumar. A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots. International Conference on Intelligent Robotics and Applications (ICIRA), 2021, pp. 396-404. 

Stouraitis Theodoros*, Lei Yan*, João Moura, Michael Gienger, and Sethu Vijayakumar. Multi-mode Trajectory Optimization for Impact-aware Manipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 : 9425-9432. (*Authors with equal contribution)

Lei Yan, Yiming Yang, Wenfu Xu, Sethu Vijayakumar. Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018: 7137–7144. (Full text)

Liang Han, Lei Yan, Wenfu Xu. A Lightweight Redundant Manipulator with High Stable Wireless Communication and Compliance Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2018: 6622–6627. (Full text)

Zhonghua Hu, Lei Yan, Wenfu Xu, Jianqing Peng. Impedance Control for Stabilizing the Coupled System during Tumbling Target Capturing. IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2018: 255-260. (Full text)

Zhonghua Hu, Wenfu Xu, Lei Yan, Jianqing Peng, Bin Liang. Dynamic Closest Point Identification and Estimation for Tumbling Target Capturing. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), IEEE, 2018: 1130-1135. (Full text)

Lei Yan, Zonggao Mu, Wenfu Xu, Bingsong Yang. Coordinated Compliance Control of Dual-Arm Robot for Payload Manipulation: Master-slave and Shared Force Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, 2016: 2697-2702. (Full text)

Qingkai Chang, Xiaolong Liu, Wenfu Xu, Lei Yan, Bingsong Yang. The Design and Experiments of a Small Wheel-legged Mobile Robot System with Two Robotic Arms. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2016: 2590-2595. (Full text)

Jiming Shao, Huaiwu Zou, Wenfu Xu, Liang Han, Lei Yan. Resolved Motion Control of a Humanoid Robot for Coordinated Manipulation. IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2015: 1584-1589. (Full text)

Lei Yan, Zonggao Mu, Wenfu Xu. Base Centroid Virtual Manipulator Modeling and Applications for Multi-arm Space Robots. The 13th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014), Marina Bay Sands, Singapore, 2014: 1542-1547. (Full text)

Lei Yan, Zonggao Mu, Wenfu Xu. Analytical Inverse Kinematics of a Class of Redundant Manipulator Based on Dual Arm-Angle Parameterization. IEEE International Conference on Systems, Man, and Cybernetics (SMC), San Diego, CA, USA, 2014: 3744-3749. (Full text)

Da Guan, Lei Yan, Yibo Yang, Wenfu Xu. A Small Climbing Robot for the Intelligent Inspection of Nuclear Power Plants. IEEE International Conference on Information Science and Technology (ICIST), IEEE, 2014: 484-487. (Full text)

Lei Yan*, Stouraitis Theodoros*, João Moura, and Sethu Vijayakumar. Multi-Mode Trajectory Optimization for Impact-Aware Catching of Large-Momentum Objects, 2021 IEEE International Conference on Intelligent Robots and Systems (IROS) Impact-Aware Robotics Workshop.  

Lei Yan, Wenfu Xu, Zhonghua Hu, Bin Liang. A Compliance Control Method and System for Cooperative Manipulation of Dual-arm Robots. Application No.: 201710097204.5.