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Journal Articles (19 first-authored, 5 IEEE TR-O, 1 IJRR)

  1. Y. Zheng, “An efficient algorithm for a grasp quality measure,” IEEE Transactions on Robotics, in press.
  2. Y. Zheng, M. C. Lin, and D. Manocha, “On computing reliable optimal grasping forces,” IEEE Transactions on Robotics, vol. 28, no. 3, pp. 619–633, 2012. (PDF, 1295KB)
  3. Y. Zheng, M. C. Lin, and D. Manocha, “Efficient simplex computation for fixture layout design,” Computer-Aided Design, Special Issue: SPM2010, vol. 43, no. 10, pp. 1307–1318, 2011. (PDF, 2896KB)
  4. Y. Zheng, C.-M. Chew, and A. H. Adiwahono, “A GJK-based approach to contact force feasibility and distribution of multi-contact robots,” Robotics and Autonomous Systems, vol. 59, no. 3-4, pp. 194–207, 2011. (PDF, 980KB)
  5. Y. Zheng and C.-M. Chew, “Fast equilibrium test and force distribution for multi-contact robotic systems,” Journal of Mechanisms and Robotics, Transactions of the ASME, vol. 2, no. 2, 021001, 2010. (PDF, 693KB)
  6. Y. Zheng and C.-M. Chew, “A geometric approach to automated fixture layout design,” Computer-Aided Design, vol. 43, no. 3, pp. 202 –212, 2010. (PDF, 2481KB)
  7. L. Yang, C.-M. Chew, Y. Zheng, and A.-N. Poo, “A study of truncated Fourier series model for bipedal walking balance control,” Robotica, vol. 28, no. 1, pp. 81–96, 2010. (PDF, 2157KB)
  8. Y. Zheng and C.-M. Chew, “Distance between a point and a convex cone in n-dimensional space: computation and applications,” IEEE Transactions on Robotics, vol. 25, no. 6, pp. 1397–1412, 2009. (PDF, 1191KB)
  9. Y. Zheng and C.-M. Chew, “Efficient procedures for optimal form-closure grasp planning and fixture layout design,” Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 131, no. 4, 041010, 2009. (PDF, 842KB)
  10. W.-W. Huang, C.-M. Chew, Y. Zheng, and G.-S. Hong, “Bio-inspired locomotion control with coordination between neural oscillators,” International Journal of Humanoid Robotics, vol. 6, no. 4, pp. 585–608, 2009. (PDF, 4072KB)
  11. Y. Zheng and W.-H. Qian, “New advances in automatic selection of eligible surface elements for grasping and fixturing,” Robotica, vol. 28, no. 3, pp. 341–348, 2010, (published online on 15 May 2009). (PDF, 383KB)
  12. Y. Zheng and W.-H. Qian, “Improving grasp quality evaluation,” Robotics and Autonomous Systems, vol. 57, no. 6-7, pp. 665–673, 2009. (PDF, 2714KB)
  13. Y. Zheng and W.-H. Qian, “A 3-D modular fixture with enhanced localization accuracy and immobilization capability,” International Journal of Machine Tools & Manufacture, vol. 48, no. 6, pp. 677–687, 2008. (PDF, 1237KB)
  14. Y. Zheng and W.-H. Qian, “On some weaknesses existing in optimal grasp planning,” Mechanism and Machine Theory, vol. 43, no. 5, pp. 576–590, 2008. (PDF, 497KB)
  15. Y. Zheng and W.-H. Qian, “A fast procedure for optimizing dynamic force distribution in multifingered grasping,” IEEE Transactions on Systems, Man, and Cybernetics―part B: Cybernetics, vol. 36, no. 6, pp. 1417–1422, 2006. (PDF, 218KB)
  16. Y. Zheng and W.-H. Qian, “An enhanced ray-shooting approach to force-closure problems,” Journal of Manufacturing Science and Engineering, Transactions of the ASME, vol. 128, no. 4, pp. 960–968, 2006. (PDF, 329KB)
  17. Y. Zheng and W.-H. Qian, “Limiting and minimizing the contact forces in multifingered grasping,” Mechanism and Machine Theory, vol. 41, no. 10, pp. 1243–1257, 2006. (PDF, 470KB)
  18. Y. Zheng and W.-H. Qian, “Dynamic force distribution in multifingered grasping by decomposition and positive combination,” IEEE Transactions on Robotics, vol. 21, no. 4, pp. 718–726, 2005. (PDF, 424KB)
  19. Y. Zheng and W.-H. Qian, “Simplification of the ray-shooting based algorithm for 3-D force-closure test,” IEEE Transactions on Robotics, vol. 21, no. 3, pp. 470–473, 2005. (PDF, 232KB)
  20. Y. Zheng and W.-H. Qian, “Coping with the grasping uncertainties in force-closure analysis,” International Journal of Robotics Research, vol. 24, no. 4, pp. 311–327, 2005. (PDF, 325KB)
  21. Y. Zheng and W.-H. Qian, “Linearizing the soft finger contact constraint with application to dynamic force distribution in multifingered grasping,” Science in China, ser. E, vol. 48, no. 2, pp. 121–130, 2005. (PDF, 195KB)

Conference Papers (10 first-authored)

  1. Y. Zheng and K. Yamane, “Evaluation of grasp force efficiency considering hand configuration and using novel generalized penetration distance algorithm,” IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10 2013, accepted.
  2. Y. Zheng and K. Yamane, “An efficient algorithm for the generalized distance measure,” IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10 2013, accepted.
  3. Y. Zheng and K. Yamane, “Ray-shooting algorithms for robotics,” International Workshop on the Algorithmic Foundations of Robotics, Cambridge, Massachusetts, June 13-15 2012, in press.
  4. Y. Zheng and K. Yamane, “Optimization and control of cyclic biped locomotion on a rolling ball,” IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, October 26-28 2011, pp. 752–759. (PDF, 2271KB)
  5. Y. Zheng and K. Yamane, “Ball walker: a case study of humanoid robot locomotion in non-stationary environments,” IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13 2011, pp. 2021–2028. (PDF, 1106KB)
  6. Y. Zheng, M. C. Lin, D. Manocha, A. H. Adiwahono, and C.-M. Chew, “A walking pattern generator for biped robots on uneven terrains,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22 2010, pp. 4483–4488. (PDF, 1690KB)
  7. Y. Zheng, M. C. Lin, and D. Manocha, “Efficient simplex computation for fixture layout design,” ACM Symposium of Solid & Physical Modeling, Haifa, Israel, September 1-3 2010, pp. 71–80. (PDF, 622KB)
  8. Y. Zheng, Ming C. Lin, and Dinesh Manocha, “A Fast n-Dimensional Ray-Shooting Algorithm for Grasping Force Optimization,” IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8 2010, pp. 1300–1305. (PDF, 433KB)
  9. A. H. Adiwahono, C.-M. Chew, W.-W Huang, and Y. Zheng, “Push recovery controller for bipedal robot walking,” IEEE/ASME Conference on Advanced Intelligent Mechatronics, Singapore, July 14-17 2009, pp. 162–167. (PDF, 300KB)
  10. Y. Zheng and C.-M. Chew, “A numerical solution to the ray-shooting problem and its applications in robotic grasping,” IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12-17 2009, pp. 2080–2085. (PDF, 281KB)
  11. W.-W. Huang, C.-M. Chew, Y. Zheng, and G.-S. Hong, “Pattern generation for bipedal walking on slopes and stairs,” IEEE-RAS International Conference on Humanoid Robots, Daejeon, Korea, December 1-3 2008, pp. 205–210. (PDF, 4677KB)
  12. Y. Zheng and C.-M. Chew, “A new distance algorithm and its application to general force-closure test,” IEEE International Conference on Robotics, Automation and Mechatronics, Chengdu, China, September 21-24 2008, pp. 313–318. (PDF, 5012KB)

Submissions under Review

  1. Y. Zheng and K. Yamane, “Ray-shooting algorithms for robotics,” extended version of the WAFR2012 paper, submitted to IEEE Transactions on Automation Science and Engineering.
  2. R. Rajkó and Y. Zheng, “Distance algorithm (DA) as faster and more interpretable alternative for non-negative least squares (NNLS) regression task,” The XIII Chemometrics in Analytical Chemistry, Budapest, Hungary, 25-29 June, 2012. A complete version has been submitted to Analytica Chimica Acta.

Thesis

  1. Y. Zheng, “On the closure properties, optimal planning and dynamic force distribution in multi-fingered grasping,” PhD Dissertation, Shanghai Jiao Tong University, 2007.