Publications

Journal Publications

2024:
  • Zhongliang Jiang, Xuesong Li, Xiangyu Chu, Angelos Karlas, Yuan Bi, Yingsheng Cheng, K. W. Samuel Au, and Nassir Navab, “Needle Segmentation Using GAN: Restoring Thin Instrument Visibility in Robotic Ultrasound,” IEEE Transactions on Instrumentation and Measurement, accepted, 2024
  • Jiajun An, Xiangyu Chu, Marie Janneke Schwaner, and K. W. Samuel Au, “Enhanced Aerial Reorientation Performance Using a 3-DoF Morphable Inertial Tail Inspired by Kangaroo Rats,” IEEE Robotics and Automation Letters, accepted, 2024.
  • Xuchen Wang, Xin Ma, Puchen Zhu, Wee Shen Ng, Huayu Zhang, Xianfeng Xia, Russell H. Taylor, and Kwok Wai Samuel Au, “Design, Optimization, and Experimental Validation of a Handheld Nonconstant-Curvature Hybrid-Structure Robotic Instrument for Maxillary Sinus Surgery,” IEEE/ASME Transactions on Mechatronics, accepted, 2024.
  • Xiangyu Chu, M. Janneke Schwaner, Jiajun An, Shengzhi Wang, Craig P McGowan, and Kwok Wai Samuel Au, “From behavior to bio-inspiration: Aerial reorientation and multi-plane stability in kangaroo rats, computational models, and robots,” Integrative and Comparative Biology, accepted, 2024.
  • Xin Ma, Puchen Zhu, Xiao Li, Xiaoyin Zheng, Jianshu Zhou, Xuchen Wang, Kwok Wai Samuel Au. A Minimal Set of Parameters Based Depth-Dependent Distortion Model and Its Calibration Method for Stereo Vision Systems, IEEE Transactions on Instrumentation and Measurement, accepted, 2024.
  • Yunxi Tang, Xiangyu Chu, Jing Huang, and K. W. Samuel Au, “Learning-based MPC With Safety Filter for Constrained Deformable Linear Object Manipulation,” IEEE Robotics and Automation Letters, accepted, Jan 2024.
2023:
  • X. Wang, J. Dai, H.Tong, K. Wang, G. Fang, X. Xie, Y. Liu, K. W. Samuel Au and K. Kwok, “Learning-based Visual-Strain Fusion for Eye-in-hand Continuum Robot Pose Estimation and Control”, IEEE Transactions on Robotics, vol. 39, no. 3, pp. 2448-2467, 2023.
  • X. Ma, X. Wang, Z. Zhang, P. Zhu, S. S. Cheng, and K. W. Samuel Au, “Design and Experimental Validation of a Novel Hybrid Continuum Robot With Enhanced Dexterity and Manipulability in Confined Space,” IEEE/ASME Transactions on Mechatronics, vol. 28, no. 4, pp. 1826-1835 2023.
  • J. Huang, X. Chu, X. Ma, and K. W. Samuel Au, “Deformable Object Manipulation With Constraints Using Path Set Planning and Tracking”, IEEE Transactions on Robotics, vol. 39, no. 6, 2023.
  • X. Chu, S. Wang, R. Ng, C. Y. Fan, J. An, and K. W. Samuel Au, “Combining Tail and Reaction Wheel for Underactuated Spatial Reorientation in Robot Falling With Quadratic Programming,” IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 7783-7790, Nov. 2023.
  • J. Huang and K. W. Samuel Au, “Task-oriented Grasping Position Selection in Deformable Object Manipulation,” IEEE Robotics and Automation Letters, vol. 8, no. 2, pp. 776-783, 2023. 
2022:
  • Y. Wang, H. Zheng, R. Taylor, and K. W. Samuel. Au, “A handheld steerable surgical drill with a novel articulated joint module for dexterous confined-space bone work,” IEEE Transactions on Biomedical Engineering, vol. 69, no. 9, pp. 2926-2934, 2022.
  • C. He and K. W. Samuel. Au, “Exponential attitude tracking and disturbance rejection of rigid body systems,” International Journal of Robust and Nonlinear Control, vol. 32, pp. 6315-6329, 2022.
  • J. An, X. Ma, C. H. David Lo, W. S. Ng, X. Chu, K. W. Samuel Au, “Design and Experimental Validation of a Monopod Robot with 3-DoF Morphable Inertial Tail for Somersault,” IEEE Transaction of Mechatronics, vol. 27, no. 6, pp. 5072-5083, 2022.
  • X. Chu, C. H. Lo, T. Proietti, C. J. Walsh, and K. W. Samuel Au, “Opposite Treatment on Null Space: a Unified Control Framework for a Class of Underactuated Robotic Systems with Null Space Avoidance,” IEEE Transactions on Control System and Technology, vol. 31, no. 1, pp. 193-207, 2023.
  • X. Wang, J. Yan, X. Ma, J. Y. K. Chan, R. H. Taylor, S. S. Cheng, and K. W. Samuel. Au, “Hybrid-Structure Hand-Held Robotic Endoscope for Sinus Surgery with Enhanced Distal Dexterity,” IEEE/ASME Transactions on Mechatronics, vol. 27, no. 4, pp. 1863-1872, 2022.
  • X. Chu, R. Ng, H. Wang, and K. W. Samuel Au. “Feedback Control for Collision-Free Nonholonomic Vehicle Navigation on SE(2) with Null Space Circumvention,” IEEE Transactions on Mechatronics, vol. 27, no. 6, pp. 5594-5604, 2022.
  • C. He and K. W. Samuel Au, “Leader-following consensus for multiple Euler-Lagrange systems over switching networks by distributed position feedback control,” IEEE Transactions on Control of Network Systems, 2021 (under review).
  • Y. Wang, H. Zheng, R. Taylor, and K. W. Samuel. Au, “A handheld steerable surgical drill with a novel articulated joint module for dexterous confined-space bone work,” IEEE Transactions on Biomedical Engineering, vol. 69, no. 9, pp. 2926-2934, 2022.
  •  
2021:

  • Y. Wang, H. Yip, H. Zheng, H, Lin, R. H. Taylor, K. W. Samuel Au, “Design and Experimental Validation of a Miniaturized Robotic Tendon-Driven Articulated Surgical Drill for Enhancing Distal Dexterity in Minimally Invasive Spine Fusion,” IEEE/ASME Transactions on Mechatronics, vol. 26, issue 4, pp. 1858-1866, 2021.

  • Y. Cai, P. Choi, C. -W. V. Hui, R. Taylor and K. W. Samuel. Au, “A Task Space Virtual Fixture Architecture for Tele-operated Surgical System with Slave Joint Limit Constraints,” in IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2021.3058174.
  • H. Lin, Q. Gao, X. Chu, Q, Dou, A. Deguet, P. Kazanzides, and K. W. Samuel Au, “Learning Deep Nets for Gravitational Dynamics with Unknown Disturbance through Physical Knowledge Distillation: Initial Feasibility Study,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2658-2665, April 2021.
  • J. Huang, Y, Cai, X, Chu, R. H. Taylor, and K. W. Samuel Au, “Non-fixed Contact Manipulation Control Framework for Deformable Objects with Active Contact Adjustment,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2878-2885, April 2021.
2019:
  • X. Chu, C. H. David Lo, C. Ma, and K. W. Samuel Au, “Null-space-avoidance-based orientation control framework for underactuated, tail-inspired robotic systems in flight phase,” IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3916–3923, 2019. [PDF]
  •  H. Lin, C. W. Vincent Hui, Y. Wang, A. Deguet, P. Kazanzides, and K. W. Samuel Au, “A reliable gravity compensation control strategy for dvrk robotic arms with nonlinear disturbance forces,” IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3892–3899, 2019. [PDF]
  •  H.-C. Fu, J. D. Ho, K.-H. Lee, Y. C. Hu, K. W. Samuel Au, K.-J. Cho, K. Y. Sze, and K.-W. Kwok, “Interfacing soft and hard: A spring reinforced actuator,” Soft Robotics, vol. 7, no 1,  pp. 44-58, 2019.  [PDF]
  • F. Xu, H. Wang, J. Wang, K. W. Samuel Au, and W. Chen, “Underwater dynamic visual servoing for a soft robot arm with online distortion correction,” IEEE/ASME Transactions on Mechatronics, vol. 24, no. 3, pp. 979–989, 2019. [PDF]
  • P. W. Chiu, S. S. Ng, and K. W. Samuel Au, “Transcervical minimally invasive esophagectomy using da vinci® SP™ surgical system: a feasibility study in cadaveric model,” Surgical endoscopy, vol. 33, no. 5, pp. 1683– 1686, 2019. [PDF]
2018:
  •  F. Xu, H. Wang, K. W. Samuel Au, W. Chen, and Y. Miao, “Underwater dynamic modeling for a cable-driven soft robot arm,” IEEE/ASME Transactions on Mechatronics, vol. 23, no. 6, pp. 2726–2738, 2018. [PDF]
  • X. Chu, H. W. Yip, Y. Cai, T. Y. Chung, S. Moran, and K. W. Samuel Au, “A compliant robotic instrument with coupled tendon driven articulated wrist control for organ retraction,” IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 4225–4232, 2018. [PDF]
Before 2009:
  • K. W. Samuel Au, J. Weber, and H. Herr, “Powered ankle–foot prosthesis improves walking metabolic economy,” IEEE Transactions on robotics, vol. 25, no. 1, pp. 51–66, 2009. [PDF]
  • K. W. Samuel Au and H. M. Herr, “Powered ankle-foot prosthesis,” IEEE Robotics & Automation Magazine, vol. 15, no. 3, pp. 52–59, 2008. [PDF]
  • K. W. Samuel Au, M. Berniker, and H. Herr, “Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits,” Neural Networks, vol. 21, no. 4, pp. 654–666, 2008. [PDF]
  • Y. Xu and K. W. Samuel Au, “Stabilization and path following of a single wheel robot,” IEEE/ASME Transactions on Mechatronics, vol. 9, no. 2, pp. 407–419, 2004. [PDF]
  • K. W. Samuel Au, Y. Xu, and W. Wilson, “Control of tilt-up motion of a single wheel robot via model-based and human-based controllers,” Mechatronics, vol. 11, no. 4, pp. 451–473, 2001. [PDF]
  •  Y. Xu, H. B. Brown Jr, and K. W. Samuel Au, “Dynamic mobility with singlewheel configuration,” The international journal of Robotics Research, vol. 18, no. 7, pp. 728–738, 1999. [PDF]

Conference Publications

2024:
  • Jing Huang, Yunxi Tang, and Kwok Wai Samuel Au, “Homotopic Path Set Planning for Robot Manipulation and Navigation,” in Robotics: Science and Systems (RSS), 2024.
  • Hongbin Lin, Bin Li, Chun Wai Wong, Juan Rojas, Xiangyu Chu, and Kwok Wai Samuel Au, “World Models for General Surgical Grasping,” in Robotics: Science and Systems (RSS), 2024.
  • Chun Ho (David) Lo, Wee Shen Ng, Xiangyu CHU, and Kwok Wai Samuel Au, “A Sliding Cone Control Method for Robust Robot Running,” in American Control Conference (ACC), accepted, 2024.
  • Zhen Zhang, Anran Lin, Chun Wai Wong, Xiangyu Chu*, Qi Dou*, and K. W. Samuel Au, “Interactive Navigation in Environments with Traversable Obstacles Using Large Language and Vision-Language Models.” IEEE International Conference on Robotics and Automation, accepted, 2024.
2023:
  • S. Wang, X. Chu, and K. W. Samuel Au, “Towards Exact Interaction Force Control for Underactuated Quadrupedal Systems with Orthogonal Projection and Quadratic Programming,” IEEE International Conference on Robotics and Automation (ICRA), pp. 12268-12274, 2023.
  • Y. Tang#, J. An#, X. Chu, S. Wang, C. Y. Wong, and K. W. Samuel Au, “Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail,” IEEE International Conference on Robotics and Automation (ICRA), pp. 1141-1147, 2023.
  • Y. Wang, H. Zheng, Y.-C. Lee, C. P. L. Chan, Y.-K. Chan, R. H. Taylor, and K. W. S. Au, “A Shared-Control Dexterous Robotic System for Assisting Transoral Mandibular Fracture Reduction: Development and Cadaver Study,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8431-8438, 2023.
  • H. Lin, B. Li, X. Chu, Q. Dou, Y. Liu, and K. W. S. Au, “End-to-End Deep Visual Control for Mastering Needle-Picking Skills With World Models and Demonstrations,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8487-8494, 2023.
  • X. Chu#, S. Wang#, M. Feng, J. Zheng, Y. Zhao, J. Huang, and K. W. S. Au, “Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study,” IEEE International Conference on Automation Science and Engineering (CASE), pp. 1-6, 2023.
  • CH David Lo, CY Giselle Wong, Wee Shen Ng, Shengzhi Wang, Xiangyu Chu, and K. W. Samuel Au, “Legged Robot Running on Rough Terrains Based on Norm Regulation of Spring-Loaded Inverted Pendulum Model,” 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), pp. 1-8, 2023.
  • X. Chu#, Y. Tang#, L. H. Kwok, Y. Cai, and K. W. Samuel Au, “Bootstrapping Robotic Skill Learning With Intuitive Teleoperation: Initial Feasibility Study,” 18th International Symposium on Experimental Robotics (ISER), 2023.
2022:
 
  • J. M. Butt, X. Ma, X. Chu, and K. W. Samuel Au, “Adaptive Flight Stabilization Framework for a Planar 4R-Foldable Quadrotor: Utilizing Morphing to Navigate in Confined Environments,” in American Control Conference (ACC), pp. 1-7, 2022.
  • X. Ma, X. Wang, R. Cao, and K. W. Samuel Au, “Design, Teleoperation Control and Experimental Validation of a Dexterous Robotic Flexible Endoscope for Laparoscopic Surgery,” IEEE/RSJ International Conference on Intelligent Robots and System (IROS), pp. 5937-5944, 2022.
2021:
 
  • J. M. Butt, X. Chu, Z. Hao, X. Wang, K. W. Kwok, and K. W. Samuel Au, “Modeling and Control of Soft Robotic Tail Based Aerial Maneuvering
    (STAM) System: Towards Agile Self-Righting with a Soft Tail,” IEEE International Conference on Advanced Robotics (ICAR), 2021.
  • R. Ng, Y. Tang, H. Lin, X. Chu and K. W. Samuel Au, “Development of a Portable Hybrid Pendubot-Acrobot Robotic Platform for On and Off Campus Teaching and Learning,” American Control Conference (ACC), 2021.
  • Xiangyu Chu, Yunxi Tang, Alessandro M. Giordano, Tan Chen, and K.W. Samuel Au. “Operational Space Control for Planar PAN-1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming,” IEEE International Conference on Robotics and Automation (ICRA), 2021.
  • H. Lin, Q. Gao, X. Chu, Q, Dou, A. Deguet, P. Kazanzides, and K. W. Samuel Au, “Learning Deep Nets for Gravitational Dynamics with Unknown Disturbance through Physical Knowledge Distillation: Initial Feasibility Study,” IEEE International Conference on Robotics and Automation (ICRA), 2021.
  • J Huang, Y, Cai, X, Chu, R. H. Taylor, and K. W. Samuel Au, “Non-fixed Contact Manipulation Control Framework for Deformable Objects with Active Contact Adjustment,” IEEE International Conference on Robotics and Automation (ICRA), 2021.
  • J. M. Butt, X. Chu, Z. Hao, X. Wang, K. W. Kwok, and K. W. Samuel Au, “Modeling and control of soft robotic tail based aerial maneuvering (STAM) system: towards agile self-righting with a soft tail,” IEEE International Conference on Advanced Robotics (ICAR), 2021.
  • X. Chu, K. W. Samuel Au, “A geometry metric for nonholonomically constrained three degree of freedom kinematic systems: enabling real-time control and online optimization”, 2021 Robotics: Science and Systems (RSS) Workshop on “Geometry and Topology in Robotics: Learning, Optimization, Planning, and Control”.
2020:
  • J. An, T. Y. Chung, C. H. David Lo, C. Ma, X. Chu, and K. W. Samuel Au, ” Development of a Bipedal Hopping Robot With Morphable Inertial Tail for Agile Locomotion,”  International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020.
  • X. Chu and K. W. Samuel Au, “A Novel Strategy for Stabilization Control of A Planar Three-Link Underactuated Manipulator with A Passive First Joint,” American Control Conference (ACC), pp. 5262-5268, 2020.
  • C. H. David Lo, X. Chu, and K. W. Samuel Au, “A Norm-Regulation-Based Limit Cycle Control of Vertical Hoppers,” American Control Conference (ACC), pp. 2130-2136, 2020.
  • Xiangyu Chu, C. H. David Lo, Carlos Ma, Jiajun An, T. Y. Chung, and K. W. Samuel Au. “Towards Agile Maneuver Generation for Terrestrial Robots in Flight Phase”, Dynamic Walking, 2020.
  • R. Ng, Y. Tang, H. Lin, X. Chu and K. W. Samuel Au, “Development of a Portable Hybrid Pendubot-Acrobot Robotic Platform for On and Off Campus Teaching and Learning,” American Control Conference (ACC), 2020.
  • J. Huang, Y. Cai, X. Chu, and K.W. Samuel Au. “Task-oriented  Contact Adjustment in Deformable Objects Manipulation with Non-fiexed Contact”,  Workshop on Managing Deformation: A Step Towards Higher Robot Autonomy, 2020 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS)
  • X. Chu. “Utilizing Null Space in Overactuated Systems vs Avoiding Null Space in Underactuated Systems”, Workshop on Robotics Retrospectives, 2020 Robotics: Science and Systems.
2019:
  • Y. Cai, C. W. Vincent Hui, and K. W. Samuel Au, “Semi-Analytical Orientation Alignment with Joint Limit Constraints for Tele-Operated Surgical System,” Hamlyn Symposium, London, 2019.
  • H. Lin, C. W. Vincent Hui, Y. Wang, A. Degust, Peter Kazanides, and K. W. Samuel Au, “A Reliable Gravity Compensation Software Package for the da Vinci Research Kit,” ICRA19 workshop on “Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, Montreal, May 23, 2019.
  • X. Chu, C. H. David Lo, C. Ma, and K. W. Samuel Au, “Null-Space-Avoidance-Based Attitude Stabilization Control for Coupled Space Robot Systems,” ICRA19 workshop on “Robotic Technology for In-Space Assembly”, Montreal, May 23, 2019.
  • X. Chu, C.H. David Lo, and K.W. Samuel Au. “Opposite Treatments on Null Space: Null Space Projection vs Null Space Avoidance”, Late Breaking Results Poster, 2019 IEEE/RSJ International Conference on Intelligent Robots and System (IROS).
  • H, Lin, C.W.Vicent.Hui, K.W.Samuel.Au. “A Reliable Gravity Compensation Software Package for da Vinci Research Kit,” International Conference on Robotics and Automation (ICRA), 2019
2018:
  • X. Chu, H. W. Yip, Y. Cai, T. Y. Chung, S. Moran, and K. W. Samuel Au, “A Compliant Robotic Instrument with Coupled Tendon Driven Articulated Wrist Control for Organ Retraction,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
  • X. Chu, T. Y. Chung, and K. W. Samuel Au, “A Systematic Modelling Approach for Motor-Cable-Joint Kinematics of Coupled Tendon-Driven Surgical Instrument,” Hamlyn Symposium, London, 2018.
  • H. W. Yip, Y. Cai, T. Y. Chung, S. Moran, and K. W. Samuel Au, “Design of an Inherently Safe Robotic Instrument for Organ Retraction by Exploiting the Buckling Principle of a Continuum Bending Beam,” Hamlyn Symposium, London, 2018.
  •  K. Lu, H. Lin, C. W. Vincent Hui, and K. W. Samuel Au, “A Case Study of Gravity Compensation for da Vinci Robotic Manipulator: A Practical Perspective,” ICRA18 workshop on “Supervised Autonomy in Surgical Robotics, 2018.
  •  K. C. Lau, Yuanpei Cai, Y. Yam and K. W. Samuel Au, “Comparison Study of Geometric Representation for Continuum Manipulator,” ICRA18 workshop on “Supervised Autonomy in Surgical Robotics”, 2018.

Patent Publications

  • K. W. Samuel Au, et al., “Morphable inertial appendage, systems and associated methods,” US Provisional Patent, US 62/810,258.
  • K. W. Samuel Au, et al., “Systems and methods for organ retraction and space opening,” In preparation for the US Provisional Patent, US 62/832,097.
  • K. W. Samuel Au, et al., “Articulating surgical device”, US Provisional Patent, US 63/040,130.