Caishan Liu

About

Caishan Liu is a leading figure in multibody system dynamics and robotic contact mechanics, with a career defined by bridging theoretical paradoxes and practical engineering solutions. His foundational work on the Painlevé paradox—a classic problem in rigid-body dynamics where standard models predict non-unique or impossible motions—culminated in a landmark 2008 paper (33 citations) that provided the first experimental validation of this phenomenon in a robotic system. This research, building on his earlier study of bouncing motion under unilateral constraints (2006, 34 citations), has been instrumental in advancing the understanding of impact and friction in robotics. Liu also contributes to applied robotics, developing inverse dynamics and energy-optimal trajectories for wheeled mobile robots (2017, 16 citations). More recently, his work has expanded into biomedical engineering, where he models capsule-tumour contact mechanics for early bowel cancer detection (2023, 4 citations), leveraging tissue stiffness as a biomarker. As a key contributor to the field, his edited volume on new developments in multibody system dynamics (2014) underscores his role in shaping modern computational and analytical methods for engineering innovation.

Research Focus

Key Achievements

Top Papers

1. 1
   The bouncing motion appearing in a robotic system with unilateral constraint

   34 citations · 2006
2. 2
   Experimental Investigation of the Painlevé Paradox in a Robotic System

   33 citations · 2008
3. 3
   Inverse dynamics and energy optimal trajectories for a wheeled mobile robot

   16 citations · 2017
4. 4
   Modelling and experimental investigation of capsule-tumour contact for early bowel cancer detection

   4 citations · 2023
5. 5
   New Developments in Multibody System Dynamics and Its Applications

   2 citations · 2014

Key Collaborators

Contact & Links