Book Chapters
Book Chapters
Chapter 1: Trajectory-based dynamic programming, Christopher G. Atkeson and Chenggang LIU, Modeling, Simulation and Optimization of Bipedal Walking Cognitive Systems Monographs Volume 18, 2013, pp 1-15 DOI:10.1007/978-3-642-36368-91 pdf
Achieving reliable humanoid robot operations in the DARPA robotics challenge: Team WPI-CMU’s approach, 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. Atkeso, 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, submitted to Journal of Field Robotics pdf
Team WPI-CMU''s Report from the DARPA Robotics Challenge Finals, Christopher G. Atkeson, Christoper P. Bov, Perry Franklin, Benzun P.W. Babu, Mathew DeDonato, Nandan Banerjee, Xiongyi Cui, Michael A. Gennert, Kevin Knoedler, Lening Li, Joshua P. Graff, Chenggang Liu, Ruixiang Du, Peng He, Xianchao Long, Dmitry Berenson, Siyuan Feng, Aaron Jaeger, Taskin Padir, Felipe Polido, X Xinjilefu, submitted to Journal of Field Robotics
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 New York, NY, USA DOI: 10.1017/S0263574712000203 pdf
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. DOI: 10.1007/s11432-011-4185-z pdf
Basic Behavior Acquisition with Multisensor Integration for a Robot System Chenggang LIU and Jianbo SU, Advanced Robotics, 2009, 23 (12-13), 1561-1578. DOI: 10.1163/016918609X12496339824450 pdf
Design and Implementation of Motor Control System for Small Humanoid Robot (in Chinese) ZHANG Yi, LIU Cheng-gang, XING Deng-peng COMPUTER ENGINEERING, 2009, 35(24)10.3969/j.issn.1000-3428.2009.24.082
Step Motor Control Strategy in High Speed Pan/Tilt/Zoom Camera System (in Chinese) Chenggang LIU, Jianbo SU Electric Automation, 2002
Calibration-Free Hand-Eye Coordination based on Coupled Auto-Disturbance Rejection Controller, Systems Engineering and Electronics, Vol.25(11), 2003, pp. 1385-1388 (In Chinese)
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, Humanoids 2015, 3-5 Nov. 2015. DOI: 10.1109/HUMANOIDS.2015.7363583 pdf
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, Humanoids 2015, 3-5 Nov. 2015. DOI: 10.1109/HUMANOIDS.2015.7363436 pdf
Implementation of a trajectory library approach to controlling humanoid standing balance Chenggang LIU and Jianbo SU (2011), Systems, Man, and Cybernetics (SMC), 2011 IEEE International Conference on DOI: 10.1109/ICSMC.2011.6083884 pdf
Biped walking control using offline and online optimization Chenggang LIU and Jianbo SU, China Control Conference (CCC), 2011 30th Chinese, 22-24 July 2011 pdf
Standing Balance Control of a Humanoid Robot In the Presence of Continous Perturbations (in Chinese) Chenggang LIU and Jianbo SU, China Control Conference (CCC), 2011 30th Chinese, 22-24 July 2011 pdf
Standing balance control using a trajectory library Chenggang LIU and Christopher G. Atkeson, Dynamic Walking, 2009.
Standing balance control using a trajectory library Chenggang LIU and Christopher G. Atkeson(2009), IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, 3031-3036. 10.1109/IROS.2009.5354018 pdf
Basic behavior acquisition based on multisensor integration of a robot head Chenggang LIU and Jianbo SU, IEEE International Conference on Robotics and Automation, 2008, 3094-3099. DOI: 10.1109/ROBOT.2008.4543681
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, Humanoids 2015, 3-5 Nov. 2015. DOI: 10.1109/HUMANOIDS.2015.7363583 pdf
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, Humanoids 2015, 3-5 Nov. 2015. DOI: 10.1109/HUMANOIDS.2015.7363436 pdf
Implementation of a trajectory library approach to controlling humanoid standing balance Chenggang LIU and Jianbo SU (2011), Systems, Man, and Cybernetics (SMC), 2011 IEEE International Conference on DOI: 10.1109/ICSMC.2011.6083884 pdf
Biped walking control using offline and online optimization Chenggang LIU and Jianbo SU, China Control Conference (CCC), 2011 30th Chinese, 22-24 July 2011 pdf
Standing Balance Control of a Humanoid Robot In the Presence of Continous Perturbations (in Chinese) Chenggang LIU and Jianbo SU, China Control Conference (CCC), 2011 30th Chinese, 22-24 July 2011 pdf
Standing balance control using a trajectory library Chenggang LIU and Christopher G. Atkeson, Dynamic Walking, 2009.
Standing balance control using a trajectory library Chenggang LIU and Christopher G. Atkeson(2009), IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, 3031-3036. 10.1109/IROS.2009.5354018 pdf
Basic behavior acquisition based on multisensor integration of a robot head Chenggang LIU and Jianbo SU, IEEE International Conference on Robotics and Automation, 2008, 3094-3099. DOI: 10.1109/ROBOT.2008.4543681
Systems and Methods for Vehicle Spatial Path Sampling Publication number: 20210271245 Type: Application Filed: March 27, 2020 Publication date: September 2, 2021 Inventors: David McAllister Bradley, Chenggang Liu, Daoyuan Jia
Method for Using Lateral Motion to Optimize Trajectories for Autonomous Vehicles Publication number: 20210114617 Type: Application Filed: September 8, 2020 Publication date: April 22, 2021 Inventors: Michael Lee Phillips, David McAllister Bradley, Utku Eren, Chenggang Liu, Daoyuan Jia, Eric Michael Perko, Samuel Philip Marden, Kalin Vasilev Gochev, Moslem Kazemi
Initial Trajectory Generator for Motion Planning System of Autonomous Vehicles Publication number: 20190346851 Type: Application Filed: June 15, 2018 Publication date: November 14, 2019 Inventors: Chenggang Liu, Moslem Kazemi, David McAllister Bradley, Tianyu Gu, Michael Lee Phillips
Automatic tuning of autonomous vehicle cost functions based on human driving data Patent number: 10168705 Type: Grant Filed: September 11, 2017 Date of Patent: January 1, 2019 Assignee: Uber Technologies, Inc. Inventors: Moslem Kazemi, Jacob Panikulam, Chenggang Liu, Andy Lee, David McAllister Bradley, Charles R. Hogg, III
Machine learning for event detection and classification in autonomous vehicles Patent number: 10520947 Type: Grant Filed: March 27, 2017 Date of Patent: December 31, 2019 Assignee: UATC, LLC Inventors: Chenggang Liu, John Evan Bares
Light output system for a self-driving vehicle Patent number: 10160378 Type: Grant Filed: November 3, 2017 Date of Patent: December 25, 2018 Assignee: Uber Technologies, Inc. Inventors: Matthew Sweeney, Thomas Pilarski, William Payne Ross, Chenggang Liu
Intention signaling for an autonomous vehicle Patent number: 9969326 Type: Grant Filed: February 22, 2016 Date of Patent: May 15, 2018 Assignee: Uber Technologies, Inc. Inventors: William Payne Ross, Chenggang Liu
Lighting device for a vehicle Patent number: 9902311 Type: Grant Filed: April 29, 2016 Date of Patent: February 27, 2018 Assignee: Uber Technologies, Inc. Inventors: Matthew Sweeney, Thomas Pilarski, William Payne Ross, Chenggang Liu
Switching method and system for multiple GPU support Patent number: 7340557 Type: Grant Filed: December 15, 2005 Date of Patent: March 4, 2008 Assignee: Via Technologies, Inc. Inventors: Dehai Kong, Wen-Chung Chen, Ping Chen, Irene Chih-Yiieh Cheng, Tatsang Mak, Xi Liu, Li Zhang, Li Sun, Chenggang Liu
Method and system for multiple GPU support Patent number: 7325086 Type: Grant Filed: December 15, 2005 Date of Patent: January 29, 2008 Assignee: Via Technologies, Inc. Inventors: Roy (Dehai) Kong, Wen-Chung Chen, Ping Chen, Irene (Chih-Yiieh) Cheng, Tatsang Mak, Xi Liu, Li Zhang, Li Sun, Chenggang Liu
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)