Chenggang Liu

Publications

Research papers, patents, and book chapters

Book Chapters

Trajectory-based Dynamic Programming
Christopher G. Atkeson and Chenggang Liu
Modeling, Simulation and Optimization of Bipedal Walking, Cognitive Systems Monographs Volume 18, pp 1-15, 2013
SpringerPDF

Journal Papers

Achieving Reliable Humanoid Robot Operations in the DARPA Robotics Challenge: Team WPI-CMU's Approach
Mathew DeDonato, Felipe Polido, Kevin Knoedler, et al.
Advanced Robotics, 2018
Team WPI-CMU: Achieving Reliable Humanoid Behavior in the DARPA Robotics Challenge
Mathew DeDonato, Felipe Polido, Kevin Knoedler, Benzun PW Babu, Nandan Banerjee, Christoper P Bove, Xiongyi Cui, Ruixiang Du, Perry Franklin, Joshua P Graff, Peng He, Aaron Jaeger, Lening Li, Dmitry Berenson, Michael A Gennert, Siyuan Feng, Chenggang Liu, X Xinjilefu, Joohyung Kim, Christopher G Atkeson, Xianchao Long, Taskin Padir
Journal of Field Robotics 34(2), 381-399
What Happened in the DARPA Robotics Challenge, and Why?
C. G. Atkeson, B. P. W. Babu, N. Banerjee, D. Berenson, C. P. Bove, X. Cui, M. DeDonato, R. Du, S. Feng, P. Franklin, M. Gennert, J. P. Graff, P. He, A. Jaeger, J. Kim, K. Knoedler, L. Li, C. Liu, X. Long, T. Padir, F. Polido, G. G. Tighe, X. Xinjilefu
Journal of Field Robotics
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Biped Walking Control Using a Trajectory Library
Chenggang Liu, Christopher G. Atkeson, and Jianbo Su
Robotica, Volume 31 Issue 2, March 2013, Pages 311-322, Cambridge University Press
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Neighboring Optimal Control for Periodic Tasks for Systems with Discontinuous Dynamics
Chenggang Liu, Christopher G. Atkeson, and Jianbo Su
SCIENCE CHINA Information Sciences, 2011, 54(3): 653-663
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Basic Behavior Acquisition with Multisensor Integration for a Robot System
Chenggang Liu and Jianbo Su
Advanced Robotics, 2009, 23(12-13), 1561-1578
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Conference Papers

Full-body Motion Planning and Control for the Car Egress Task of the DARPA Robotics Challenge
Chenggang Liu, C.G. Atkeson, Siyuan Feng, and Xinjilefu
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2015
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No Falls, No Resets: Reliable Humanoid Behavior in the DARPA Robotics Challenge
Atkeson, C.G, Babu, B.P.W, Banerjee, N., Berenson, D., Bove, C.P., Cui, X., DeDonato, M., Du, R., Feng, S., Franklin, P., Gennert, M., Graff, J.P., He, P., Jaeger, A., Kim, J., Knoedler, K., Li, L., Liu, C., Long, X., Padir, T., Polido, F., Tighe, G.G., and Xinjilefu
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2015
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Implementation of a Trajectory Library Approach to Controlling Humanoid Standing Balance
Chenggang Liu and Jianbo Su
IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2011
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Biped Walking Control Using Offline and Online Optimization
Chenggang Liu and Jianbo Su
China Control Conference (CCC), 2011
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Standing Balance Control Using a Trajectory Library
Chenggang Liu and Christopher G. Atkeson
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009
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Basic Behavior Acquisition Based on Multisensor Integration of a Robot Head
Chenggang Liu and Jianbo Su
IEEE International Conference on Robotics and Automation (ICRA), 2008

US Patents

Systems and Methods for Vehicle Spatial Path Sampling
David McAllister Bradley, Chenggang Liu, Daoyuan Jia
US Patent Application 20210271245, September 2021
Method for Using Lateral Motion to Optimize Trajectories for Autonomous Vehicles
Michael Lee Phillips, David McAllister Bradley, Utku Eren, Chenggang Liu, Daoyuan Jia, Eric Michael Perko, Samuel Philip Marden, Kalin Vasilev Gochev, Moslem Kazemi
US Patent Application 20210114617, April 2021
Initial Trajectory Generator for Motion Planning System of Autonomous Vehicles
Chenggang Liu, Moslem Kazemi, David McAllister Bradley, Tianyu Gu, Michael Lee Phillips
US Patent Application 20190346851, November 2019
Automatic Tuning of Autonomous Vehicle Cost Functions Based on Human Driving Data
Moslem Kazemi, Jacob Panikulam, Chenggang Liu, Andy Lee, David McAllister Bradley, Charles R. Hogg, III
US Patent 10168705, Uber Technologies, Inc., January 2019
Machine Learning for Event Detection and Classification in Autonomous Vehicles
Chenggang Liu, John Evan Bares
US Patent 10520947, UATC, LLC, December 2019
Light Output System for a Self-driving Vehicle
Matthew Sweeney, Thomas Pilarski, William Payne Ross, Chenggang Liu
US Patent 10160378, Uber Technologies, Inc., December 2018
Intention Signaling for an Autonomous Vehicle
William Payne Ross, Chenggang Liu
US Patent 9969326, Uber Technologies, Inc., May 2018
Lighting Device for a Vehicle
Matthew Sweeney, Thomas Pilarski, William Payne Ross, Chenggang Liu
US Patent 9902311, Uber Technologies, Inc., February 2018
Switching Method and System for Multiple GPU Support
Dehai Kong, Wen-Chung Chen, Ping Chen, Irene Chih-Yiieh Cheng, Tatsang Mak, Xi Liu, Li Zhang, Li Sun, Chenggang Liu
US Patent 7340557, Via Technologies, Inc., March 2008
Method and System for Multiple GPU Support
Roy (Dehai) Kong, Wen-Chung Chen, Ping Chen, Irene (Chih-Yiieh) Cheng, Tatsang Mak, Xi Liu, Li Zhang, Li Sun, Chenggang Liu
US Patent 7325086, Via Technologies, Inc., January 2008

Chinese Patents

Method and System for Multiple GPU Support
ZL200610128006.2 (Issued)
Method and System for Multiple GPU Support
ZL200610110751.4 (Issued)
Distributed Dual-bus Motion Control System for Humanoid Robots
200810038844.X (Published)
Camera System for Auto-detecting and Tracking Suspicious Subjects
ZL03116154.5 (Issued)
Electric Wire Driven Actuator for Artificial Joint
ZL200710038296.6 (Issued)
General Distributed Control System for Humanoid Robots
ZL200910054322.3 (Issued)