The ultimate goal of my research is to build intelligent and autonomous robots that think, behave and interact with the world in the way that human beings do, so that they can better serve, assist and collaborate with people in their daily lives across work, home and leisure.
The fundamental research question is to ensure those robots operate efficiently and safely in a human-involved environment. I am interested in addressing the microscopic aspect of the problem, e.g. the design of the behavior system (i.e. a mapping from observation to action) for single robot, as well as the macroscopic aspect of the problem, e.g. the analysis and validation of the human-robot system from a multi-agent perspective. Such human-robot system can be human-robot collaboration system in production lines, future transportation system with both automated and human-driven vehicles, or general cyber physical social system (CPSS).
- 2021~ Task agnostic real-time perception and control with few-shot cross-platform adaptation
- 2020~ Safe Uncaged Industrial Robots
- 2020~ 2021 Hierarchical Motion Planning for Efficient and Provably Safe Human-Robot Interactions
- 2019~ 2021 6DoF Robot Assembly Station of Consumer Electronic Production
- 2019~ 2020 Automatic Onsite Polishing of Large Complex Surfaces by Real Time Planning and Control
- 2019 Adaptable Behavior Prediction for Autonomous Driving
- 2018~ 2021 Verification of Deep Neural Networks
- 2018~ Micro to Macro Traffic Management and Modeling with Autonomous Vehicles
- 2017~ Safe and Efficient Robot Collaboration System (SERoCS)
- 2014~ 2017 Robustly-Safe Automated Driving (ROAD) Systems
- 2013~ 2017 Robot Safe Interaction Systems (RSIS) for Intelligent Industrial Co-Robots
Abstract: With the development of modern robotics, robots are entering people's life in multiple ways. As identified by National Robotics Initiative (NRI), future intelligent robots can be co-defenders, co-explorers, co-inhabitants and even co-workers to human. To successfully launch those co-robots, we must make sure that they are safe to human users. However, this is not a easy task as the robots are operating in a dynamic uncertain environment (DUE) together with other intelligent agents such as humans. In this project, we address the safety issues in the context of (1) multi-agent interactions (2) sensing and knowledge representations (3) learning and predictions (4) human modeling and (5) constrained optimal control and decision-making. (Spotlight Talk in 2015 Bay Area Robotics Symposium.)
C. Liu, and M. Tomizuka, "Robot Safe Interaction Systems for Intelligent Industrial Co-Robots".
[J3] C. Liu, C. Lin, and M. Tomizuka, "The convex feasible set algorithm for real time optimization in motion planning", in SIAM Journal on Control and Optimization, 2018.
[J2] C. Liu, and M. Tomizuka, "Real time trajectory optimization for nonlinear robotic systems: Relaxation and convexification", in System & Control Letters, 2017.
[B1] C. Liu, and M. Tomizuka, "Designing the robot behavior for safe human-robot interactions", in Trends in Control and Decision-Making for Human-Robot Collaboration Systems (Y. Wang and F. Zhang (Eds.)), Springer, 2017.
[C14] C. Lin, C. Liu, Y. Fan, and M. Tomizuka, "Real-time collision avoidance algorithm on industrial manipulators", in IEEE Conference on Control Technology and Applications (CCTA), 2017.
[C10] C. Liu, C. Lin, Y. Wang, and M. Tomizuka, "Convex feasible set algorithm for constrained trajectory smoothing", in American Control Conference, 2017.
[C4] C. Liu, and M. Tomizuka, "Algorithmic safety measures for intelligent industrial co-robots", in IEEE International Conference on Robotics and Automation (ICRA), 2016.
[C3] C. Liu, and M. Tomizuka, "Safe exploration: addressing various uncertainty levels in human robot interactions", in American Control Conference, 2015.
[C2] C. Liu, and M. Tomizuka, "Control in a safe set: addressing safety in human-robot interactions", in ASME Dynamic Systems and Control Conference, 2014. Best Student Paper Finalist.
[C1] C. Liu, and M. Tomizuka, "Modeling and controller design of cooperative robots in workspace sharing human-robot assembly teams", in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.