Protein Structures:

  1. R. J. Milgram, G.F. Liu, and J.C. Latombe, “On the Structure of the Inverse Kinematics Map of a Fragment of Protein Backbone”, Journal of Computational Chemistry, Accepted, Under Production, 2007.

  2. G.F. Liu, R.J. Milgram, A. Dhanik, and J.C. Latombe, “On the Inverse Kinematics of a Fragment of Protein Backbone”, Advances in Robot Kinematics, PP. 201-208, Springer, 2006.


Robot Motion Planning and Control:


  1. G.F. Liu and Z.X. Li, “A Unified Geometric Approach to Modeling and Control of Constrained Mechanical Systems”, IEEE Transactions on Robotics and Automation, Vol. 18, No. 4, PP. 574-587, 2002.

  2. G.F. Liu, J.C. Trinkle, and R.J. Milgram, “Toward Complete Path Planning for Planar 3R-Manipulators Among Point Obstacles”, Algorithmic Foundations of Robotics, VI, PP. 329-344, 2005.

  3. G.F. Liu and J.C. Trinkle, “Complete Path Planning for Planar Closed Chains Among Point Obstacles”, Robotics: Science and Systems, PP. 33-40, 2005.

  4. N.Shvalb, G.F. Liu, M. Shoham, and J.C. Trinkle, “Motion Planning for a Class of Planar Closed Chains”, Vol. 26, No. 5, PP. 457-474, International Journal of Robotics Research, 2007.


Kinematics and Control of Dextrous Manipulation:


  1. G.F. Liu, J.J. Xu, and Z.X. Li, “On Geometric Algorithms for Real-Time Grasping Force Optimization”, IEEE Transactions on Control Systems Technology, Vol. 12, No. 6, 2004.

  2. G.F. Liu, J.J. Xu, X. Wang, and Z.X. Li, “On Quality Functions for Grasp Synthesis, Fixture Planning, and Coordinated Manipulation”, IEEE Transactions on Automation Science and Engineering, Vol. 1, No. 2, PP 146-162, 2004.

  3. G.F. Liu and Z.X. Li, “Real-Time Grasping Force Optimization for Multifingered Manipulation: Theory and Experiments”, IEEE/ASME Transactions on Mechatronics, Vol. 9, No. 1, PP. 65-77, 2004.

Geometric and Randomized Algorithms for Design of Parallel Robots:

  1. Y.J. Lou, G.F. Liu, and Z.X. Li, “Randomized Optimal Design of Parallel Manipulators”, To appear in IEEE Transactions on Automation Science and Technology, 2007.

  2. G.F. Liu, Y.J. Lou, and Z.X. Li, “Singularities of Parallel Manipulators: A Geometric Treatment”, IEEE Transactions on Robotics and Automation, Vol. 19, No. 4, 2003.

  3. J. Meng, G.F. Liu, and Z.X. Li, “A Geometric Theory for Synthesis and Analysis of Sub-six DoF Parallel Manipulators”, To appear in IEEE Transactions on Robotics, 2007.