Publications 📝

† indicates co-first author, and * indicates corresponding author.

1. Boyu Ma, Zongwu Xie*, Zainan Jiang*, Yang Liu, Yiming Ji, Baoshi Cao, Zhengpu Wang & Hong Liu, 2025. Robotic redundancy via arm angle self-adaptation through nullspace resolution: Offset poses a challenge. The International Journal of Robotics Research (IJRR).
2. Zongwu Xie, Yiming Ji, Yang Liu*, Yiqian Xie, Zhengpu Wang, Boyu Ma & Baoshi Cao, 2025. DiffRP: Diffusion-driven promising region prediction for sampling-based path planning. IEEE Robotics and Automation Letters (RAL).
3. Zongwu Xie, Mengfei Li, Wandong Sun, Baoshi Cao, Yang Liu*, Zhengpu Wang, Yiming Ji, Hong Liu, Boyu Ma & Zhihong Wu, 2025. Enhancing safety and manipulability of redundant manipulators: Accelerated motion generation in dynamic environments. IEEE Robotics and Automation Letters (RAL). [Link]
4. Yuntao Li, Zichun Xu, Zhiyuan Zhao, Lei Zhuang, Xiaohang Yang, Boyu Ma, Jingdong Zhao* & Hong Liu, 2025. On-orbit assembly control based on model predictive control and load online identification. Advances in Space Research, 76(1): 533-550. [Link]
5. Yiming Ji, Yang Liu*, Guanghu Xie, Boyu Ma, Zongwu Xie & Baoshi Cao, 2025. NNPP: A learning-based heuristic model for accelerating optimal path planning on uneven terrain. Robotics and Autonomous Systems (RAS), 193: 105084. [Link]
6. Zongwu Xie†, Zhengpu Wang†, Baoshi Cao*, Yang Liu, Wandong Sun, Guanghu Xie, Yiming Ji & Boyu Ma*, 2025. Motion generation around obstacles: A multidimensional sampling-based planner. IEEE Transactions on Industrial Electronics (TIE). [Link]
7. Zongwu Xie†, Wandong Sun†, Baoshi Cao*, Yang Liu, Zhengpu Wang, Hong Liu & Boyu Ma*, 2024. A general collision-free scheme for redundant manipulators. in Proceedings of 2024 International Conference on Intelligent Robotics and Applications (ICIRA), Xi'an, China, 31-44. [Link]
8. Boyu Ma, Chunyu Zhou, Yang Liu*, Baoshan Niu, Feiyang Wen, Sijiang Liu & Zongwu Xie, 2024. A comprehensive derivation of quintic spline interpolation and its applications to 3-D collision-free trajectory generation. in Proceedings of 2024 IEEE International Conference on Real-time Computing and Robotics (RCAR), Ålesund, Norway, 304-310. [Link]
9. Handong Hu, Zongwu Xie*, Yiwei Liu, Chuangqiang Guo, Boyu Ma, Yang Liu* & Hong Liu, 2024. Force sensing strategy for the antagonistic variable stiffness hand. IEEE Sensors Journal, 24(21): 34100-34106. [Link]
10. Baoshan Niu, Dapeng Yang*, Tao Geng, Le Zhang, Boyu Ma, Qi Huang & Hong Liu, 2024. Dynamic arm impedance regulation: Experiences from medical ultrasound scanning experts. IEEE Transactions on Instrumentation and Measurement (TIM), 73: 7506210. [Link]
11. Zongwu Xie*, Yiming Ji, Yang Liu & Boyu Ma, 2024. Traversability analysis for autonomous planetary exploration rovers: A learning⁃based approach. Manned Spaceflight, 30(5): 659-665. (in Chinese) [Link]
12. Yiming Ji, Yang Liu*, Guanghu Xie, Boyu Ma, Zongwu Xie & Hong Liu, 2024. NEDS-SLAM: A neural explicit dense semantic slam framework using 3d gaussian splatting. IEEE Robotics and Automation Letters (RAL), 9(10): 8778-8785. [Link]
13. Xiaohang Yang, Zhiyuan Zhao, Boyu Ma, Zichun Xu, Jingdong Zhao* & Hong Liu, 2024. Kinematic and dynamic manipulability optimizations of redundant manipulators based on RNN model. IEEE Transactions on Industrial Informatics (TII), 20(4): 5763-5773. [Link]
14. Zongwu Xie*, Boyu Ma, Wandong Sun, Xiaohang Yang, Yiming Ji & Guanghu Xie, 2024. Collision-free trajectory planning for robotic agents based on metaheuristic optimization. Manned Spaceflight, 30(4): 510-515. (in Chinese) [Link]
15. Xiaohang Yang, Boyu Ma, Zhiyuan Zhao, Jingdong Zhao* & Hong Liu, 2024. A kinematics control scheme of redundant manipulators under unknown loads or external forces. IEEE Transactions on Systems, Man, and Cybernetics: Systems (TSMC), 54(8): 5048-5060. [Link]
16. Boyu Ma, Baoshi Cao, Yang Liu*, Yuteng Xie, Xiaohang Yang, Wei Wang, Handong Hu, Xiaokai Zhou, Yiming Ji, Zhengpu Wang, Mengfei Li, Haoran Sun, Wandong Sun & Zongwu Xie, 2023. A trajectory planning framework for Experimental Module Manipulator on-orbit servicing. in Proceedings of 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand. [Link]
17. Zhengpu Wang, Baoshi Cao*, Zongwu Xie, Boyu Ma, Kui Sun & Yang Liu, 2023. Kinematic calibration of a space manipulator based on visual measurement system with Extended Kalman Filter. Machines, 11(3): 409. [Link]
18. Bowen Zhan, Minghe Jin*, Boyu Ma & Bincheng Huang, 2023. Detumbling motion planning for the space manipulator with grasped targets and flexible appendages in the post-capturing phase. Proceedings of the Institution of Mechanical Engineers, Part G：Journal of Aerospace Engineering, 5: 1158-1173. [Link]
19. Zongwu Xie, Boyu Ma, Zainan Jiang* & Yang Liu, 2023. Research on virtual camera imaging technology for space manipulator teleoperation. Journal of Harbin Engineering University, 44(4): 631-638. (in Chinese) [Link]
20. Boyu Ma, Zainan Jiang*, Yang Liu & Zongwu Xie, 2023. Advances in space robots for on-orbit servicing: A comprehensive review. Advanced Intelligent Systems (AISY), 5(8): 2200397. Both the Wiley Top-Cited and Top-Viewed Awards [Link]
21. Boyu Ma, Zongwu Xie, Bowen Zhan, Zainan Jiang, Yang Liu* & Hong Liu, 2023. Actual shape-based obstacle avoidance synthesized by velocity–acceleration minimization for redundant manipulators: An optimization perspective. IEEE Transactions on Systems, Man, and Cybernetics: Systems (TSMC), 53(10): 6460-6474. [Link]
22. Boyu Ma, Zongwu Xie, Xiaohang Yang, Yang Liu, Zhengpu Wang & Zainan Jiang*, 2023. Neurodynamics-based configuration transformation with engineering application to robot manipulators using two intelligent approaches. Engineering Applications of Artificial Intelligence (EAAI), 120: 105861. [Link]
23. Boyu Ma, Zongwu Xie, Zainan Jiang*, Yang Liu & Zhengpu Wang, 2022. An efficient inverse kinematic strategy for the 7-DOF offset space manipulator with arm angle parameterization. in Proceedings of 2022 IEEE International Conference on Mechatronics and Automation (ICMA), Guilin, China, 1732-1737. [Link]
24. Yaowen Zhang, Yechao Liu*, Baoshi Cao, Yang Liu, Boyu Ma & Zongwu Xie, 2021. Joint limit optimal inverse kinematics of the 7-DoF manipulator with link offset based on semi-analytical solution. in Proceedings of 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 483-489. [Link]
25. Boyu Ma, Zongwu Xie, Zainan Jiang* & Hong Liu, 2021. Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization. Frontiers of Mechanical Engineering (FME), 16(3): 435-450. [Link]

Review Activities