Tangyou Liu

Peer-Reviewed Journal Publications

Submitted:

2025:

• [11] Xiaowen Zhang, Tangyou Liu*, Tiantian Wang, Hongliang Ren, Jiaole Wang*. A Multi-Functional Robotic Biopsy System Towards Automatic Diagnosis. IEEE Robotics and Automation Letters. (*corresponding author, submitted)

• [10] Laurence Xian, Tangyou Liu, Liao Wu*. Comparatively evaluating stereo-matching algorithms for minimally invasive surgery. IEEE Robotics and Automation Practice. 2025: 1-5.  (submitted)

Published:

2025：

• [9] Tangyou Liu, Xiaowen Zhang, Chao Zhang, Tiantian Wang, Shuang Song, Jiaole Wang*, Liao Wu*. Robotic intracorporeal palpation with a miniature force-sensing probe for minimally invasive surgery. IEEE Transactions on Instrumentation and Measurement. [DOI][VIDEO]

• [8] Chen Qian, Tangyou Liu, Liao Wu. JammingSnake: A follow-the-leader continuum robot with variable stiffness based on fiber jamming. IEEE/ASME Transactions on Mechatronics. 2025, 1-8. [PDF][VIDEO]

2024:

• [7] Tangyou Liu, Xiaoyi Wang, Jay Katupitiya, Jiaole Wang and Liao Wu. Automatic Tissue Traction with Haptics-Enabled Forceps for Minimally Invasive Surgery IEEE Transactions on Robotics. 2024 [DOI] [PDF] [VIDEO].

• [6]  Tangyou Liu, Jiaole Wang, Shing Wong, Andrew Razjigaev, Susann Beier, Shuhua Peng, Thanh Nho Do, Shuang Song, Dewei Chu, Chun Hui Wang, Nigel Lovell, Liao Wu. A review on the Form and Complexity of Human-Robot Interaction in the Evolution of Autonomous Surgery. Advanced Intelligent Systems. 2400197. 2024: 1-26. [PDF]

2023:

• [5] Tangyou Liu, Tinghua Zhang, Jay Katupitiya, Jiaole Wang and Liao Wu. Haptics-Enabled Forceps With Multi-Modal Force Sensing: Towards Task-Autonomous Surgery. IEEE/ASME Transactions on Mechatronics. 2023. [DOI] [PDF][VIDEO]

2022:

• [4] Jian Hu†, Tangyou Liu†, Haijun Zeng, Ming Xuan Chua, Jayantha Katupitiya, Liao Wu. Static Modeling of A Class of Stiffness-Adjustable Snake-Like Robots with Gravity Compensation. Robotics. 2022 († equally contributing authors). [PDF] 

• [3] Liu, T., Zhang, C., Wang, J., Song, S., and Meng, M.Q.H., 2022. Towards Terrain Adaptability: In Situ Transformation of Wheel-Biped Robots. IEEE Robotics and Automation Letters, 7(2), pp.3819-3826. [PDF] 

• [2] Zhang, C., Liu, T., Song, S., Wang, J., and Meng, M.Q.H., 2021. Dynamic wheeled motion control of wheel-biped transformable robots. Biomimetic Intelligence and Robotics, p.100027. [PDF] 

2021:

• [1] Shi, Q., Liu, T., Song, S., Wang, J., and Meng, M.Q.H., 2021. An optically aided magnetic tracking approach for magnetically actuated capsule robot. IEEE Transactions on Instrumentation and Measurement, 70, pp.1-9. [PDF]

Peer-Reviewed Conference Publications

Submitted:

• N/A

Published:

2025:

• [9] Yanting Peng, Tiantian Wang, Tangyou Liu, Shuang Song, and Jiaole Wang. Learning-Based 3D Trajectory Generation for Automated Nasal Endoscopy. International Conference on Information and Automation (ICIA),  Lanzhou, China, 2025.

• [8] Yuan, Sishen, Xinyuan Jiang, Haitao Gao, Yiqing Huang, Tangyou Liu, Qingyang Liu, and Hongliang Ren. Physics-Informed Neural Networks for Quasi-Static Tip Position Control of Magnetic Catheters. Procedia Computer Science 271 (2025): 301-307. Zhangye, China.

• [7] Yang, Yang, Tao Zhang, Yupeng Wang, Wenchao Yue, Tangyou Liu, and Hongliang Ren. Conformable Vision-Based Tactile Sensor with Enhanced Soft Elastomer Design for Palpating Irregular Anatomical Surfaces. Procedia Computer Science 271 (2025): 79-85.  Zhangye, China.

2024:

• [6] Wang, Xiaoyi, and Tangyou Liu. Coordinated Control of Space Robots with Base Attitude Represented by Rotation Matrices in SO (3). In 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 286-291. Bangkok, Thailand. 2024.

• [5] Yueqi Wang†, Tangyou Liu†, Licheng Feng, Yang Yang, Jianjun Bao, Binghao Li,  Liao Wu. Hardware-based time synchronization for a multi-sensor system. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024). Abu Dhabi, UAE, 2024: 1-7. [PDF] († equally contributing authors) 

• [4] Chen Qian, Tangyou Liu, Liao Wu. Effects of fiber size and density on fiber jamming: Towards follow-the-leader deployment of a continuum robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024). Abu Dhabi, UAE, 2024: 1-7.  [VIDEO] [PDF]

• [3] Lachlan Scott, Tangyou Liu, Liao Wu. A low-cost teleoperable surgical robot with a macro-micro structure and a continuum tip for open-source research. In: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2024). Boston, USA, 2024: 1-6. [VIDEO] [PDF]

2019:

• [2] Liu, T., Zhang, C., Song, S., and Meng, M.Q.H., 2019, December. Dynamic height balance control for bipedal wheeled robot based on ROS-Gazebo. In 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 1875-1880). IEEE. [PDF] 

• [1] Zhang, C., Liu, T., Song, S., and Meng, M.Q.H., 2019, December. System design and balance control of a bipedal leg-wheeled robot. In 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 1869-1874). IEEE. [PDF] 

Patents

• [4] Liu, T., Wu, L., A miniature transformable multi-modal stereo endoscope for minimally invasive surgery. Australian Provisional Patent. 2025901461. Filed: 24/04/2025 [LINK] 

• [3] Song, S., Liu, T., Zhang, C., and Meng, Q., ” A bipedal wheel leg robot ”, China Patent, Application No. 202020597216.1.

• [2] Song, S., Liu, T., Zhang, C., and Meng, Q., ” A multi-modal biped wheel leg robot ”, China Patent, Patent No.ZL 2020 1 0314846.8

• [1] Hou, J., and Liu, T., ” Automatic opening and closing vehicle-mounted wireless charger ”, China Patent, Authorization announcement No. CN 208353030 U. 

Flexible robots, intelligent perception, and human-robot interaction for medical applications.

Magnetic tracking and actuation for bioengineering applications. 

Humanoid service robot system design, modeling, perception, control, planning, and navigation.