By Associate Professor Leo Wu

Journal articles

Wu L; Ren H, 2017, 'Finding the Kinematic Base Frame of a Robot by Hand-Eye Calibration Using 3D Position Data', IEEE Transactions on Automation Science and Engineering, 14, pp. 314 - 324, http://dx.doi.org/10.1109/TASE.2016.2517674

Li Z; Wu L; Ren H; Yu H, 2017, 'Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators', Mechanism and Machine Theory, 107, pp. 148 - 165, http://dx.doi.org/10.1016/j.mechmachtheory.2016.09.018

Jaiprakash A; O’Callaghan WB; Whitehouse SL; Pandey A; Wu L; Roberts J; Crawford RW, 2017, 'Orthopaedic surgeon attitudes towards current limitations and the potential for robotic and technological innovation in arthroscopic surgery', Journal of Orthopaedic Surgery, 25, http://dx.doi.org/10.1177/2309499016684993

Yu H; Wu L; Wu K; Ren H, 2016, 'Development of a Multi-Channel Concentric Tube Robotic System with Active Vision for Transnasal Nasopharyngeal Carcinoma Procedures', IEEE Robotics and Automation Letters, 1, pp. 1172 - 1178, http://dx.doi.org/10.1109/LRA.2016.2530794

Wu L; Wang J; Qi L; Wu K; Ren H; Meng MQH, 2016, 'Simultaneous Hand-Eye, Tool-Flange, and Robot-Robot Calibration for Comanipulation by Solving the AXB = YCZ Problem', IEEE Transactions on Robotics, 32, pp. 413 - 428, http://dx.doi.org/10.1109/TRO.2016.2530079

Wu L; Yang X; Chen K; Ren H, 2015, 'A Minimal POE-Based Model for Robotic Kinematic Calibration with only Position Measurements', IEEE Transactions on Automation Science and Engineering, 12, pp. 758 - 763, http://dx.doi.org/10.1109/TASE.2014.2328652

Miao DJ; Wu L; Xu J; Chen K; Xie Y; Liu Z, 2015, 'Automatic spraying robot system for aircraft surfaces and spraying operation planning', Jilin Daxue Xuebao Gongxueban Journal of Jilin University Engineering and Technology Edition, 45, pp. 547 - 553, http://dx.doi.org/10.13229/j.cnki.jdxbgxb201502031

Yang X; Wu L; Li J; Chen K, 2014, 'A minimal kinematic model for serial robot calibration using POE formula', Robotics and Computer Integrated Manufacturing, 30, pp. 326 - 334, http://dx.doi.org/10.1016/j.rcim.2013.11.002

Wu L; Yang X; Xu J; Miao D; Chen K, 2013, 'Linear approximation method for weighted rigid-body registration', Qinghua Daxue Xuebao Journal of Tsinghua University, 53, pp. 1424 - 1428

Miao D; Wang G; Wu L; Yang X; Chen K, 2013, 'Trajectory planning for freeform surface uniform spraying', Qinghua Daxue Xuebao Journal of Tsinghua University, 53, pp. 1418 - 1423

Wang Z; Chen K; Wu L; Miao D, 2013, 'Multi-level control program structure for aircraft surface spray', Hangkong Xuebao Acta Aeronautica Et Astronautica Sinica, 34, pp. 928 - 935, http://dx.doi.org/10.7527/S1000-6893.2013.0153

Wu L; Yang X; Lan S; Chen K, 2012, 'Robotic TCF calibration based on a planar template', Jiqiren Robot, 34, pp. 98 - 103, http://dx.doi.org/10.3724/SPJ.1218.2012.00098

Conference Papers

Darmanian MA; Foroughi J; Katupitiya J; Wu L, 2026, 'A Lightweight and Low-Cost Bicep-Flexion Assistance Exosuit Actuated by Twisted and Coiled Artificial Muscles', in IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM, http://dx.doi.org/10.1109/AIM65483.2026.11658083

Sevinc MO; Wu L; Cruz F, 2026, 'Towards Closing the Domain Gap with Event Cameras', in Australasian Conference on Robotics and Automation Acra

Scott L; Liu T; Wu L, 2024, 'A Low-Cost Teleoperable Surgical Robot with a Macro-Micro Structure and a Continuum Tip for Open-Source Research', in IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM, pp. 847 - 852, http://dx.doi.org/10.1109/AIM55361.2024.10636985

Qian C; Liu T; Wu L, 2024, 'Effects of fiber number and density on fiber jamming: Towards follow-the-leader deployment of a continuum robot', in IEEE International Conference on Intelligent Robots and Systems, pp. 9235 - 9240, http://dx.doi.org/10.1109/IROS58592.2024.10802851

Wang Y; Liu T; Feng L; Wang J; Yang Y; Bao J; Li B; Wu L, 2024, 'Hardware-Based Time Synchronization for a Multi-Sensor System', in IEEE International Conference on Intelligent Robots and Systems, pp. 4600 - 4607, http://dx.doi.org/10.1109/IROS58592.2024.10802693

Feng L; Bao J; Li B; Wu L, 2024, 'Vector Field-based Autonomous Navigation in a Tunnel-like Environment', in Proceedings of the 2024 14th International Conference on Indoor Positioning and Indoor Navigation Ipin 2024, http://dx.doi.org/10.1109/IPIN62893.2024.10786181

Coates C; Wu L, 2023, 'A mechatronic system for the visualisation and analysis of orchestral conducting', in Australasian Conference on Robotics and Automation Acra, Sydney, presented at Australasian Conference on Robotics and Automation (ACRA 2023), Sydney, 04 December 2023 - 06 December 2023, http://dx.doi.org/10.26190/unsworks/28686

Darmanian MA; Chua MX; Wu L, 2023, 'A Completely Portable and Concealable, Lightweight Assistive Exosuit for Upper Limbs', in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society EMBS, http://dx.doi.org/10.1109/EMBC40787.2023.10340106

Sun Y; Wu L; Wang H; Althoefer K; Qi P, 2022, 'The Validation of Viscosity Induced Chord-wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta Ray', in 2022 IEEE 5th International Conference on Soft Robotics Robosoft 2022, pp. 673 - 680, http://dx.doi.org/10.1109/RoboSoft54090.2022.9762113

Huang DS; Hu J; Guo L; Sun Y; Wu L, 2021, 'A Static Model for a Stiffness-Adjustable Snake-Like Robot', in IEEE International Conference on Intelligent Robots and Systems, pp. 2956 - 2961, http://dx.doi.org/10.1109/IROS51168.2021.9636734

Razjigaev A; Pandey AK; Howard D; Roberts J; Wu L, 2021, 'SnakeRaven: Teleoperation of a 3D Printed Snake-like Manipulator Integrated to the RAVEN II Surgical Robot', in IEEE International Conference on Intelligent Robots and Systems, pp. 5282 - 5288, http://dx.doi.org/10.1109/IROS51168.2021.9636878

Zhong Y; Du R; Wu L; Yu H, 2020, 'A Novel Articulated Soft Robot Capable of Variable Stiffness through Bistable Structure', in Proceedings IEEE International Conference on Robotics and Automation, pp. 2939 - 2945, http://dx.doi.org/10.1109/ICRA40945.2020.9197479

Jakes D; Ge Z; Wu L, 2019, 'Model-less Active Compliance for Continuum Robots using Recurrent Neural Networks', in IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers (IEEE), PEOPLES R CHINA, Macau, pp. 2167 - 2173, presented at 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), PEOPLES R CHINA, Macau, 04 November 2019 - 08 November 2019, http://dx.doi.org/10.1109/IROS40897.2019.8968141

Wu L; Crawford R; Roberts J, 2019, 'Geometric interpretation of the general POE model for a serial-link robot via conversion into D-H parameterization', in Howard A; Althoefer K; Arai F; Arrichiello F; Caputo B; Castellanos J; Hauser K; Isler V; Kim J; Liu H; Oh P; Santos V; Scaramuzza D; Ude A; Voyles R; Yamane K; Okamura A (eds.), Proceedings IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), CANADA, Montreal, pp. 7360 - 7366, presented at 2019 International Conference on Robotics and Automation (ICRA), CANADA, Montreal, 20 May 2019 - 24 May 2019, http://dx.doi.org/10.1109/ICRA.2019.8794384

Ren S; Yang X; Song Y; Qiao H; Wu L; Xu J; Chen K, 2018, 'A Simultaneous Hand-Eye Calibration Method for Hybrid Eye-in-Hand/Eye-to-Hand System', in 2017 IEEE 7th Annual International Conference on Cyber Technology in Automation Control and Intelligent Systems Cyber 2017, pp. 568 - 573, http://dx.doi.org/10.1109/CYBER.2017.8446185

Paul L; Chant T; Crawford R; Roberts J; Wu L, 2017, 'Prototype Development of a Hand-Held Steerable Tool for Hip Arthroscopy', in 2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017), IEEE, PEOPLES R CHINA, Macau, pp. 989 - 995, presented at IEEE International Conference on Robotics and Biomimetics (ROBIO), PEOPLES R CHINA, Macau, 05 December 2017 - 08 December 2017

Razjigaev A; Crawford R; Roberts J; Wu L, 2017, 'Teleoperation of a Concentric Tube Robot through Hand Gesture Visual Tracking', in 2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017), IEEE, PEOPLES R CHINA, Macau, pp. 1175 - 1180, presented at IEEE International Conference on Robotics and Biomimetics (ROBIO), PEOPLES R CHINA, Macau, 05 December 2017 - 08 December 2017

Paul L; Chant T; Crawford R; Roberts J; Wu L, 2017, 'Prototype development of a hand-held steerable tool for hip arthroscopy', in 2017 IEEE International Conference on Robotics and Biomimetics Robio 2017, Institute of Electrical and Electronics Engineers (IEEE), pp. 989 - 995, presented at 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 05 December 2017 - 08 December 2017, http://dx.doi.org/10.1109/ROBIO.2017.8324546

Razjigaev A; Crawford R; Roberts J; Wu L, 2017, 'Teleoperation of a concentric tube robot through hand gesture visual tracking', in 2017 IEEE International Conference on Robotics and Biomimetics Robio 2017, Institute of Electrical and Electronics Engineers (IEEE), pp. 1175 - 1180, presented at 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 05 December 2017 - 08 December 2017, http://dx.doi.org/10.1109/ROBIO.2017.8324577

Leitner J; Tow AW; Sunderhauf N; Dean JE; Durham JW; Cooper M; Eich M; Lehnert C; Mangels R; McCool C; Kujala PT; Nicholson L; Pham T; Sergeant J; Wu L; Zhang F; Upcroft B; Corke P, 2017, 'The ACRV picking benchmark: A robotic shelf picking benchmark to foster reproducible research', in Proceedings IEEE International Conference on Robotics and Automation, pp. 4705 - 4712, http://dx.doi.org/10.1109/ICRA.2017.7989545

Kordowitzki P; Hadeler K; Aldag P; Lucas-Hahn A; Wu L; Sinclair D; Niemann H, 2017, 'The possible role of the SIRT1 enzyme in oxidative stress and spindle assembly in bovine oocytes-a large animal model for reproductive ageing', in REPRODUCTION IN DOMESTIC ANIMALS, WILEY-BLACKWELL, GERMANY, Munich, pp. 29 - 30, presented at 50th Annual Conference of Physiology and Pathology of Reproduction / 42nd Mutual Conference of Veterinary and Human Reproductive Medicine, GERMANY, Munich, 15 February 2017 - 17 February 2017

Wu L; Wu K; Ren H, 2016, 'Towards hybrid control of a flexible curvilinear surgical robot with visual/haptic guidance', in IEEE International Conference on Intelligent Robots and Systems, pp. 501 - 507, http://dx.doi.org/10.1109/IROS.2016.7759100

Prasai AB; Jaiprakash A; Pandey AK; Crawford R; Roberts J; Wu L, 2016, 'Design and fabrication of a disposable micro end effector for concentric tube robots', in 2016 14th International Conference on Control Automation Robotics and Vision Icarcv 2016, http://dx.doi.org/10.1109/ICARCV.2016.7838560

Wu K; Wu L; Ren H, 2015, 'Motion planning of continuum tubular robots based on centerlines extracted from statistical atlas', in IEEE International Conference on Intelligent Robots and Systems, pp. 5512 - 5517, http://dx.doi.org/10.1109/IROS.2015.7354158

Wu K; Wu L; Lim CM; Ren H, 2015, 'Model-free image guidance for intelligent tubular robots with pre-clinical feasibility study: Towards minimally invasive trans-orifice surgery', in 2015 IEEE International Conference on Information and Automation Icia 2015 in Conjunction with 2015 IEEE International Conference on Automation and Logistics, pp. 749 - 754, http://dx.doi.org/10.1109/ICInfA.2015.7279384

Wu L; Tan BLW; Ren H, 2015, 'Prototype development of a hand-held robotic light pipe for intraocular procedures', in 2015 IEEE International Conference on Robotics and Biomimetics IEEE Robio 2015, pp. 368 - 373, http://dx.doi.org/10.1109/ROBIO.2015.7418795

Wang J; Wu L; Meng MQH; Ren H, 2014, 'Towards simultaneous coordinate calibrations for cooperative multiple robots', in IEEE International Conference on Intelligent Robots and Systems, pp. 410 - 415, http://dx.doi.org/10.1109/IROS.2014.6942592

Wu K; Wu L; Ren H, 2014, 'An image based targeting method to guide a tentacle-like curvilinear concentric tube robot', in 2014 IEEE International Conference on Robotics and Biomimetics IEEE Robio 2014, pp. 386 - 391, http://dx.doi.org/10.1109/ROBIO.2014.7090361

Miao DJ; Wu L; Chen K; Wang GL, 2013, 'A collision-free trajectory planning method for redundant manipulator spraying for inner surface of pipe', in Advanced Materials Research, pp. 1656 - 1661, http://dx.doi.org/10.4028/www.scientific.net/AMR.694-697.1656

Wu L; Yang X; Miao D; Xie Y; Chen K, 2013, 'Inverse kinematics of a class of 7R 6-DOF robots with non-spherical wrist', in 2013 IEEE International Conference on Mechatronics and Automation IEEE Icma 2013, pp. 69 - 74, http://dx.doi.org/10.1109/ICMA.2013.6617895

Ren C; Liu Z; Wu L; Chen K, 2010, 'Design and control of the precise tracking bed based on complex electromechanical design theory', in Proceedings of SPIE the International Society for Optical Engineering, http://dx.doi.org/10.1117/12.867578

Conference Posters

Tan B; Wu L; Ren H, 2015, 'Prototype development of a handheld tubular curvilinear robot for minimally invasive surgery', presented at The 11th Asian Conference on Computer Aided Surgery (ACCAS 2015), 09 July 2015 - 11 July 2015

Conference Presentations

Wu L; Paul L; Chant T; Razjigaev A; Roberts J; Crawford R, 2018, 'A hand-held dexterous, flexible, and intelligent robotic arthroscope making arthroscopy easier and safer', presented at IHBI Inspires, 16 August 2018 - 17 August 2018

Wu L; Crawford R; Roberts J, 2017, 'An analytic approach to converting POE parameters into D-H parameters for serial-link robots', presented at 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 24 September 2017 - 28 September 2017

Wu L; Crawford R; Roberts J, 2017, 'Dexterity analysis of three 6-DOF continuum robots combining concentric tube mechanisms and cable driven mechanisms', presented at 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), 29 May 2017 - 03 June 2017

Conference Abstracts

Yu H; Wang Y; Cardamis M; Ganesan H; Yan Y; Ma F; Zhang T; He H; Wu L; Hu W, 2026, 'Demo Abstract: LightFARM: Energy-Efficient Indoor Farming via Battery-Free Sensing and Predictive Lighting Control', in Proceedings 2026 ACM IEEE International Conference on Embedded Artificial Intelligence and Sensing Systems Posters and Demos Sensys Adjunct 2026, pp. 9 - 10, http://dx.doi.org/10.1109/SenSys-Adjunct71932.2026.00014

Patents

Ren H; Wu L; Haibo Y, 2022, Concentric tube robot device and control method thereof, Patent No. CN107753109, https://patents.google.com/patent/CN107753109B/en

Wang G; Chen K; Xie Y; Yang X; Shuai Z; Zheng L; Liu L; Wu L; Liu Z; Ren S; Cheng J; Yu Q, 2017, Painting robot position planning method for large-scale free-form surface, Patent No. CN104331542, https://patents.google.com/patent/CN104331542B/en

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