Coping with the Grasping Uncertainties in Force-closure Analysis. - Yu Zheng 001; Wen-Han Qian (Int. J. Robotics Res., 2005)

Simplification of the ray-shooting based algorithm for 3-D force-closure test. - Yu Zheng 001; Wen-Han Qian (IEEE Trans. Robotics, 2005)

Dynamic Force Distribution in Multifingered Grasping by Decomposition and Positive Combination. - Yu Zheng 001; Wen-Han Qian (IEEE Trans. Robotics, 2005)

A Fast Procedure for Optimizing Dynamic Force Distribution in Multifingered Grasping. - Yu Zheng 001; Wen-Han Qian (IEEE Trans. Syst. Man Cybern. Part B, 2006)

Pattern generation for bipedal walking on slopes and stairs. - Weiwei Huang 005; Chee-Meng Chew; Yu Zheng 001; Geok-Soon Hong (Humanoids, 2008)

A New Distance Algorithm and Its Application to General Force-Closure Test. - Yu Zheng 001; Chee-Meng Chew (RAM, 2008)

A numerical solution to the ray-shooting problem and its applications in robotic grasping. - Yu Zheng 001; Chee-Meng Chew (ICRA, 2009)

Bio-Inspired Locomotion Control with Coordination between Neural oscillators. - Weiwei Huang 005; Chee-Meng Chew; Yu Zheng 001; Geok-Soon Hong (Int. J. Humanoid Robotics, 2009)

Improving grasp quality evaluation. - Yu Zheng 001; Wen-Han Qian (Robotics Auton. Syst., 2009)

Distance Between a Point and a Convex Cone in n -Dimensional Space: Computation and Applications. - Yu Zheng 001; Chee-Meng Chew (IEEE Trans. Robotics, 2009)

A fast n-dimensional ray-shooting algorithm for grasping force optimization. - Yu Zheng 001; Ming C. Lin; Dinesh Manocha (ICRA, 2010)

A walking pattern generator for biped robots on uneven terrains. - Yu Zheng 001; Ming C. Lin; Dinesh Manocha; Albertus Hendrawan Adiwahono; Chee-Meng Chew (IROS, 2010)

A geometric approach to automated fixture layout design. - Yu Zheng 001; Chee-Meng Chew (Comput. Aided Des., 2010)

Truncated Fourier series formulation for bipedal walking balance control. - Lin Yang; Chee-Meng Chew; Yu Zheng 001; Aun Neow Poo (Robotica, 2010)

New advances in automatic selection of eligible surface elements for grasping and fixturing. - Yu Zheng 001; Wen-Han Qian (Robotica, 2010)

Optimization and control of cyclic biped locomotion on a rolling ball. - Yu Zheng 001; Katsu Yamane (Humanoids, 2011)

Ball walker: A case study of humanoid robot locomotion in non-stationary environments. - Yu Zheng 001; Katsu Yamane (ICRA, 2011)

Efficient simplex computation for fixture layout design. - Yu Zheng 001; Ming C. Lin; Dinesh Manocha (Comput. Aided Des., 2011)

A GJK-based approach to contact force feasibility and distribution for multi-contact robots. - Yu Zheng 001; Chee-Meng Chew; Albertus Hendrawan Adiwahono (Robotics Auton. Syst., 2011)

On Computing Reliable Optimal Grasping Forces. - Yu Zheng 001; Ming C. Lin; Dinesh Manocha (IEEE Trans. Robotics, 2012)

Evaluation of grasp force efficiency considering hand configuration and using novel generalized penetration distance algorithm. - Yu Zheng 001; Katsu Yamane (ICRA, 2013)

An efficient algorithm for the generalized distance measure. - Yu Zheng 001; Katsu Yamane (ICRA, 2013)

Ray-Shooting Algorithms for Robotics. - Yu Zheng 001; Katsu Yamane (IEEE Trans Autom. Sci. Eng., 2013)

An Efficient Algorithm for a Grasp Quality Measure. - Yu Zheng 001 (IEEE Trans. Robotics, 2013)

Adapting human motions to humanoid robots through time warping based on a general motion feasibility index. - Yu Zheng 001; Katsu Yamane (ICRA, 2015)

Generalized Distance Between Compact Convex Sets: Algorithms and Applications. - Yu Zheng 001; Katsu Yamane (IEEE Trans. Robotics, 2015)

Computing the Globally Optimal Frictionless Fixture in a Discrete Point Set. - Yu Zheng 001 (IEEE Trans. Robotics, 2016)

Computing the best grasp in a discrete point set. - Yu Zheng 001 (ICRA, 2017)

An efficient algorithm for minimum zone flatness based on the computation of the largest inscribed ball in a symmetric polyhedron. - Yu Zheng 001 (Comput. Aided Des., 2017)

Bioinspired Control of Walking With Toe-Off, Heel-Strike, and Disturbance Rejection for a Biped Robot. - Xuechao Chen; Zhangguo Yu; Weimin Zhang; Yu Zheng 001; Qiang Huang 002; Aiguo Ming (IEEE Trans. Ind. Electron., 2017)

Real-time contact force distribution using a polytope hierarchy in the grasp wrench set. - Yu Zheng 001 (Robotics Auton. Syst., 2018)

Computing the best grasp in a discrete point set with wrench-oriented grasp quality measures. - Yu Zheng 001 (Auton. Robots, 2019)

Gain Scheduled Controller Design for Balancing an Autonomous Bicycle. - Shuai Wang 007; Leilei Cui 002; Jie Lai; Sicheng Yang; Xiangyu Chen 001; Yu Zheng 001; Zhengyou Zhang; Zhong-Ping Jiang (IROS, 2020)

A Flexible Dual-Core Optical Waveguide Sensor for Simultaneous and Continuous Measurement of Contact Force and Position. - Zhong Zhang; Yu Zheng 001; Jia Pan 001; Xiong Li 001; Kaiwei Li; Zhengyou Zhang (IROS, 2020)

Calculating the Support Function of Complex Continuous Surfaces With Applications to Minimum Distance Computation and Optimal Grasp Planning. - Yu Zheng 001; Kaiyu Hang (IEEE Trans. Robotics, 2020)

Balance Control of a Novel Wheel-legged Robot: Design and Experiments. - Shuai Wang 007; Leilei Cui 002; Jingfan Zhang; Jie Lai; Dongsheng Zhang; Ke Chen; Yu Zheng 001; Zhengyou Zhang; Zhong-Ping Jiang (ICRA, 2021)

A Hierarchical Framework for Quadruped Locomotion Based on Reinforcement Learning. - Wenhao Tan; Xing Fang; Wei Zhang 021; Ran Song 001; Teng Chen; Yu Zheng 001; Yibin Li 001 (IROS, 2021)

Run Like a Dog: Learning Based Whole-Body Control Framework for Quadruped Gait Style Transfer. - Fulong Yin; Annan Tang; Liangwei Xu; Yue Cao; Yu Zheng 001; Zhengyou Zhang; Xiangyu Chen 001 (IROS, 2021)

A Computational Framework for Robot Hand Design via Reinforcement Learning. - Zhong Zhang; Yu Zheng 001; Zhe Hu; Lezhang Liu; Xuan Zhao 006; Xiong Li 001; Jia Pan 001 (IROS, 2021)

A Bilateral Dual-Arm Teleoperation Robot System with a Unified Control Architecture. - Cheng Zhou; Longfei Zhao; Haitao Wang; Lipeng Chen; Yu Zheng 001 (RO-MAN, 2021)

Type Synthesis of 2T1R Planar Parallel Mechanisms and Their Moduling Development Applications. - Dongsheng Zhang; Yu Zheng 001; Lei Wei 002; Jing Wu; Yundou Xu; Yongsheng Zhao (IEEE Access, 2021)

Learning-Based Balance Control of Wheel-Legged Robots. - Leilei Cui 002; Shuai Wang 007; Jingfan Zhang; Dongsheng Zhang; Jie Lai; Yu Zheng 001; Zhengyou Zhang; Zhong-Ping Jiang (IEEE Robotics Autom. Lett., 2021)

The Realization of Intelligent Robot System for Milk Tea Production. - Bin Hu 010; Xiaodong Zhang 035; Tianju Ding; Xisong Dong; Bidan Huang; Yu Zheng 001 (IEEE Robotics Autom. Lett., 2021)

Living Object Grasping Using Two-Stage Graph Reinforcement Learning. - Zhe Hu; Yu Zheng 001; Jia Pan 001 (IEEE Robotics Autom. Lett., 2021)

An Efficient and Responsive Robot Motion Controller for Safe Human-Robot Collaboration. - Xuan Zhao 006; Tingxiang Fan; Yanwen Li; Yu Zheng 001; Jia Pan 001 (IEEE Robotics Autom. Lett., 2021)

Dual-arm Object Transportation via Model Predictive Control and External Disturbance Estimation. - Maolin Lei; Mario Selvaggio; Ting Wang; Fabio Ruggiero; Cheng Zhou; Chen Yao; Yu Zheng 001 (CASE, 2022)

On the Possibility of Two-Dimensional Slip Rendering Using Two Cross Placed Belts. - Lezhang Liu; Li Jiang; Yu Zheng 001; Xiong Li 001; Xinyang Jiang (ICARM, 2022)

A Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots. - Wanchao Chi; Xinyang Jiang; Yu Zheng 001 (ICRA, 2022)

Real-time Inertial Parameter Identification of Floating-Base Robots Through Iterative Primitive Shape Division. - Jiafeng Xu; Yu Zheng 001; Xinyang Jiang; Sicheng Yang; Lingzhu Xiang; Zhengyou Zhang (ICRA, 2022)

TOPP-MPC-Based Dual-Arm Dynamic Collaborative Manipulation for Multi-Object Nonprehensile Transportation. - Cheng Zhou; Maolin Lei; Longfei Zhao; Zunran Wang; Yu Zheng 001 (ICRA, 2022)

Multi-fingered Tactile Servoing for Grasping Adjustment under Partial Observation. - Hanzhong Liu; Bidan Huang; Qiang Li 001; Yu Zheng 001; Yonggen Ling; Wangwei Lee; Yi Liu 068; Ya-Yen Tsai; Chenguang Yang 001 (IROS, 2022)

Toward Global Sensing Quality Maximization: A Configuration Optimization Scheme for Camera Networks. - Xuechao Zhang; Xuda Ding; Yi Ren; Yu Zheng 001; Chongrong Fang; Jianping He 001 (IROS, 2022)

An Adaptive Approach to Whole-Body Balance Control of Wheel-Bipedal Robot Ollie. - Jingfan Zhang; Shuai Wang 007; Haitao Wang; Jie Lai; Zhenshan Bing; Yu Jiang; Yu Zheng 001; Zhengyou Zhang (IROS, 2022)

Optimal Nonprehensile Interception Strategy for Objects in Flight. - Cheng Zhou; Yanbo Long; Ying Cao; Longfei Zhao; Bidan Huang; Yu Zheng 001 (IROS, 2022)

Configuration-Aware Safe Control for Mobile Robotic Arm with Control Barrier Functions. - Fan Ding; Jianping He 001; Yi Ren; Han Wang 026; Yu Zheng 001 (CoRR, 2022)

DA2 Dataset: Toward Dexterity-Aware Dual-Arm Grasping. - Guangyao Zhai; Yu Zheng 001; Ziwei Xu; Xin Kong; Yong Liu 007; Benjamin Busam; Yi Ren; Nassir Navab; Zhengyou Zhang (CoRR, 2022)

Large-Scale Integrated Flexible Tactile Sensor Array for Sensitive Smart Robotic Touch. - Zhenxuan Zhao; Jianshi Tang; Jian Yuan; Yijun Li; Yuan Dai; Jian Yao; Qingtian Zhang; Sanchuan Ding; Tingyu Li; Ruirui Zhang; Yu Zheng 001; Zhengyou Zhang; et al. (CoRR, 2022)

Safety-Critical Optimal Control for Robotic Manipulators in A Cluttered Environment. - Xuda Ding; Han Wang 026; Yi Ren; Yu Zheng 001; Cailian Chen; Jianping He 001 (CoRR, 2022)

Bio-Inspired Rhythmic Locomotion for Quadruped Robots. - Jiapeng Sheng; Yanyun Chen; Xing Fang; Wei Zhang 021; Ran Song 001; Yu Zheng 001; Yibin Li 001 (IEEE Robotics Autom. Lett., 2022)

DA$^{2}$ Dataset: Toward Dexterity-Aware Dual-Arm Grasping. - Guangyao Zhai; Yu Zheng 001; Ziwei Xu; Xin Kong; Yong Liu 007; Benjamin Busam; Yi Ren; Nassir Navab; Zhengyou Zhang (IEEE Robotics Autom. Lett., 2022)

Explainable Hierarchical Imitation Learning for Robotic Drink Pouring. - Dandan Zhang 001; Qiang Li 001; Yu Zheng 001; Lei Wei 002; Dongsheng Zhang; Zhengyou Zhang (IEEE Trans Autom. Sci. Eng., 2022)

A Simultaneous Learning and Control Scheme for Redundant Manipulators With Physical Constraints on Decision Variable and Its Derivative. - Mei Liu; Jialiang Fan; Yu Zheng 001; Shuai Li 002; Long Jin 001 (IEEE Trans. Ind. Electron., 2022)

Data-Driven Motion-Force Control Scheme for Redundant Manipulators: A Kinematic Perspective. - Jialiang Fan; Long Jin 001; Zhengtai Xie; Shuai Li 002; Yu Zheng 001 (IEEE Trans. Ind. Informatics, 2022)

Quadratic Pose Estimation Problems: Globally Optimal Solutions, Solvability/Observability Analysis, and Uncertainty Description. - Jin Wu 002; Yu Zheng 001; Zhi Gao; Yi Jiang 007; Xiangcheng Hu; Yilong Zhu; Jianhao Jiao; Ming Liu 001 (IEEE Trans. Robotics, 2022)

Adaptive optimal output regulation for wheel-legged robot Ollie: A data-driven approach. - Jingfan Zhang; Zhaoxiang Li; Shuai Wang 007; Yuan Dai; Ruirui Zhang; Jie Lai; Dongsheng Zhang; Ke Chen; Jie Hu; Weinan Gao; Jianshi Tang; Yu Zheng 001 (Frontiers Neurorobotics, 2022)

A Learning Framework for Human-Like Time Parameterization of Robot Manipulation Paths. - Lipeng Chen; Xiangchi Chen; Wanchao Chi; Yu Zheng 001 (Humanoids, 2023)

Online Multi-Phase Trajectory Generation for Compliant Landing Control of Quadruped Robots. - Shuai Wang 007; Wanchao Chi; Jinbo Zuo; Qinqin Zhou 002; Ke Chen; Sicheng Yang; Lingzhu Xiang; Yu Zheng 001 (ICAR, 2023)

Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs. - Shuai Wang 007; Jingfan Zhang; Weiyi Kong; Chong Zhang; Jie Lai; Dongsheng Zhang; Chunyan Wang 008; Ke Chen; Zhaoyuan Gu; Ye Zhao 002; Ke Zhang; Yu Zheng 001 (ICAR, 2023)

Tactile-Based Object Pose Estimation Employing Extended Kalman Filter. - Qiguang Lin; Chaojie Yan; Qiang Li 001; Yonggen Ling; Yu Zheng 001; Wangwei Lee; Zhaoliang Wan; Bidan Huang; Xiaofeng Liu 006 (ICARM, 2023)

Differential Dynamic Programming based Hybrid Manipulation Strategy for Dynamic Grasping. - Cheng Zhou; Yanbo Long; Lei Shi; Longfei Zhao; Yu Zheng 001 (ICRA, 2023)

A Unified Trajectory Generation Algorithm for Dynamic Dexterous Manipulation. - Cheng Zhou; Wentao Gao; Weifeng Lu; Yanbo Long; Sicheng Yang; Longfei Zhao; Bidan Huang; Yu Zheng 001 (IROS, 2023)

ChatHRC: Personalized Human-Robot Collaboration using Fuzzy Reinforcement Learning with Natural Language Rewards. - Zhe Hu; Weifeng Lu; Yu Zheng 001; Jia Pan 001 (RO-MAN, 2023)

Locomotion generation for quadruped robots on challenging terrains via quadratic programming. - Xinyang Jiang; Wanchao Chi; Yu Zheng 001; Shenghao Zhang; Yonggen Ling; Jiafeng Xu; Zhengyou Zhang (Auton. Robots, 2023)

Learning 6-DoF Fine-grained Grasp Detection Based on Part Affordance Grounding. - Yaoxian Song; Penglei Sun; Yi Ren; Yu Zheng 001; Yue Zhang 004 (CoRR, 2023)

Grasping Living Objects With Adversarial Behaviors Using Inverse Reinforcement Learning. - Zhe Hu; Yu Zheng 001; Jia Pan 001 (IEEE Trans. Robotics, 2023)

Self-Supervised Bayesian Visual Imitation Learning Applied to Robotic Pouring. - Dandan Zhang 001; Yu Zheng 001; Wen Fan 001; Nathan F. Lepora; Zhengyou Zhang (ICIT, 2024)

A Robust Model Predictive Controller for Tactile Servoing. - Shuai Wang; Yihao Huang 006; Wang Wei Lee; Tianliang Liu; Xiao Teng; Yu Zheng 001; Qiang Li 001 (ICRA, 2024)

A High-Performance Anthropomorphic Robotic Arm for Household Applications. - Tianliang Liu; Sicheng Yang; Jingchen Li; Xiangchi Chen; Shuai Wang 007; Xiao Teng; Wangwei Lee; Xiong Li 001; Yu Zheng 001 (IROS, 2024)

TRX-Hand5: An Anthropomorphic Hand with Integrated Tactile Feedback for Grasping and Manipulation in Human Environments. - Sicheng Yang; Wang Wei Lee; Zhong Zhang; Youda Xiong; Jiaming Liang; Peng Lu; Yonghui Zhu; Tianliang Liu; Jingchen Li; Rui Wang; Xiong Li 001; Yu Zheng 001 (IROS, 2024)

Compliance while resisting: A shear-thickening fluid controller for physical human-robot interaction. - Lu Chen; Lipeng Chen; Xiangchi Chen; Haojian Lu; Yu Zheng 001; Jun Wu 003; Yue Wang 020; Zhengyou Zhang; Rong Xiong (Int. J. Robotics Res., 2024)

TossNet: Learning to Accurately Measure and Predict Robot Throwing of Arbitrary Objects in Real Time With Proprioceptive Sensing. - Lipeng Chen; Weifeng Lu; Kun Zhang 017; Yizheng Zhang; Longfei Zhao; Yu Zheng 001 (IEEE Trans. Robotics, 2024)

Enabling Versatility and Dexterity of the Dual-Arm Manipulators: A General Framework Toward Universal Cooperative Manipulation. - Yi Ren; Zhehua Zhou; Ziwei Xu; Yang Yang 031; Guangyao Zhai; Marion Leibold; Fenglei Ni; Zhengyou Zhang; Martin Buss; Yu Zheng 001 (IEEE Trans. Robotics, 2024)

Tracking Object's Pose via Dynamic Tactile Interaction. - Qiguang Lin; Chaojie Yan; Qiang Li 001; Yonggen Ling; Wangwei Lee; Yu Zheng 001; Zhaoliang Wan; Bidan Huang; Xiaofeng Liu 006 (Int. J. Humanoid Robotics, 2024)

Online Control Barrier Function Construction for Safety-Critical Motion Control of Manipulators. - Xuda Ding; Han Wang 026; Yi Ren; Yu Zheng 001; Cailian Chen; Jianping He 001 (IEEE Trans. Syst. Man Cybern. Syst., 2024)

A Hierarchical Framework for Quadruped Omnidirectional Locomotion Based on Reinforcement Learning. - Wenhao Tan; Xing Fang; Wei Zhang 021; Ran Song 001; Teng Chen; Yu Zheng 001; Yibin Li 001 (IEEE Trans Autom. Sci. Eng., 2024)

Max: A Wheeled-Legged Quadruped Robot for Multimodal Agile Locomotion. - Qinqin Zhou 002; Sicheng Yang; Xinyang Jiang; Dongsheng Zhang; Wanchao Chi; Ke Chen; Shenghao Zhang; Jie Li; Jingfan Zhang; Rui Wang; Jingchen Li; Yufeng Zhang; et al. (IEEE Trans Autom. Sci. Eng., 2024)

A Data-Driven Image-Based Visual Servoing Scheme for Redundant Manipulators With Unknown Structure and Singularity Solution. - Zhengtai Xie; Yu Zheng 001; Long Jin 001 (IEEE Trans. Syst. Man Cybern. Syst., 2024)

Soft Magnetic Skin With Motion and Contact Sensing for Anthropomorphic Robotic Finger. - Xingyu Ding; Xiangbo Wang; Yaqi Zhang; Shuntian Yao; Yu Zheng 001; Fuchun Sun 001; Jianhua Shan; Bin Fang 003 (IEEE Robotics Autom. Lett., 2024)

Dexterous in-hand manipulation of slender cylindrical objects through deep reinforcement learning with tactile sensing. - Wenbin Hu; Bidan Huang; Wang Wei Lee; Sicheng Yang; Yu Zheng 001; Zhibin Li 001 (Robotics Auton. Syst., 2025)

Learning 6-DoF Fine-Grained Grasp Detection Based on Part Affordance Grounding. - Yaoxian Song; Penglei Sun; Piaopiao Jin; Yi Ren; Yu Zheng 001; Zhixu Li; Xiaowen Chu 001; Yue Zhang 004; Tiefeng Li; Jason Gu (IEEE Trans Autom. Sci. Eng., 2025)

An Efficient Unified Algorithm for the Minimum Euclidean Distance Between Two Collections of Compact Convex Sets. - Yu Zheng 001 (IEEE Trans. Robotics, 2025)

Beyond End-Effector: Utilizing High-Resolution Tactile Signals for Physical Human-Robot Interaction. - Yu Sun; Cong Xiao; Lipeng Chen; Lu Chen; Haojian Lu; Yue Wang 020; Wang Wei Lee; Yu Zheng 001; Zhengyou Zhang; Rong Xiong (IEEE Trans. Ind. Electron., 2025)