Papers
22
Total Citations
292
H-Index
9
About
Qizheng Liao is a robotics and mechanical engineering researcher whose work spans robot kinematics, dynamic modeling, and advanced control systems. He is perhaps best known for his foundational contribution to solving the inverse kinematics of general 6R serial manipulators using double quaternions, a 2009 paper that has garnered nearly 100 citations and remains a key reference in robotic arm analysis. A significant portion of Liao's research is devoted to the dynamics and control of self-balancing robotic systems, particularly bicycle and unicycle robots — inherently unstable, nonlinear platforms that demand sophisticated control strategies. Across multiple studies, he has applied and compared techniques including fuzzy sliding-mode control, feedback linearization, LQR, PID, and Kane's method-based dynamic modeling, collectively accumulating over 90 additional citations. His work in minimally invasive surgical robotics further demonstrates his breadth, with contributions to the kinematics and synthesis of remote center of motion (RCM) mechanisms used in surgical wrist designs. Taken together, Liao's research reflects a consistent focus on bridging rigorous mathematical modeling with practical control engineering, making his work valuable to students and researchers working in robotics, mechatronics, and medical device design.
Research Focus
Key Achievements
Top Papers
- 1
- 2A kind of bicycle robot dynamic modeling and nonlinear control26 citations · 2010
- 3
- 4Design of LQR and PID controllers for the self balancing unicycle robot15 citations · 2014
- 5Design of linear quadratic optimal controller for bicycle robot15 citations · 2009
- 6Design of Fuzzy Sliding-mode Controller for Bicycle Robot Nonlinear System14 citations · 2006
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- 9
- 10Nonlinear stabilization of bicycle robot steering control system9 citations · 2009