Research Interests
Robots kinematics and dynamics
Computational methods
Autonomous vehicles
Biological inspired robots
Undergraduate Research / Capstone Design Projects
Selected Publications
Journal Articles
P. Kim, Y. Liu, Z. Luo, Y. Wang, "Deconvolution on the Euclidean motion group and planar robotic manipulator design," Robotica, in press.
Y. Wang, G.S. Chirikjian, “Nonparametric second-order theory of error propagation on motion groups,” International Journal of Robotics Research, Vol. 27, No. 11-12, p 1258-1273, 2008.
Y. Wang, "A direct numerical solution to forward kinematics of general Stewart-Gough platforms," Robotica, Vol. 25, p 121-128, 2007.
K. Lee, Y. Wang and G.S. Chirikjian, “O(N) mass matrix inversion for serial manipulators and polypeptide chains using Lie derivatives,” Robotica, Vol. 25, p 739-750, 2007
Y. Wang, "A fast workspace-density-driven inverse kinematics for hyper-redundant manipulators,” Robotica, Vol. 24, p 649-655, 2006.
Y. Wang, G.S. Chirikjian, “Error propagation on the Euclidean group with applications to manipulator kinematics,” IEEE Transactions on Robotics, Vol. 22, No. 4, p 591-602, 2006.
Y. Wang, Y. Zhou, D.K. Maslen, G.S. Chirikjian, “Solving phase noise Fokker-Planck equations using the motion-group Fourier transform,” IEEE Transactions on Communications, Vol. 54, No. 5, p 868-877, 2006.
Y. Wang, G.S. Chirikjian, “Workspace generation of hyper-redundant manipulators as a diffusion process on SE(N),” IEEE Transactions on Robotics and Automation, vol. 20, no. 3, p 399-408, 2004.
Refereed Conference Proceedings
J. Dong, Y. Wang, Z. Wang, T. Wang, “A new reconfigurable logic for CNC lathe controllers,” IEEE International Conference on Mechatronics and Automation, Changchun, China, 2009.
J. Custodio, Y. Wang, "A spoke-wheel based wall-climbing robot," IEEE International Conferences on Robotics, Automation & Mechatronics, Chengdo, China, 2008.
O. Hernandez, Y. Wang, "An autonomous off-road robot based on integrative technologies, " IEEE/ASME International Conference on Advanced Intelligent Mechatornics, Xi'an, China, p 540-545, 2008.
W. Park, Y. Wang, G.S. Chirikjian, "Path planning for flexible needles using second-order error propagation," The 8th International workshop on the Algorithmic Foundations of Robotics, Guanajuato, Mexico, 2008.
Y. Wang, "An incremental method for forward kinematics of parallel manipulators," IEEE International Conferences on Robotics, Automation & Mechatronics, Bangkok, Thailand, p 243-247, 2006.
Y. Wang, G.S. Chirikjian, "Robustness analysis of kinematic covariance propagation in serial manipulators," ASME International Design Engineering Technical conference and computers and information in Engineering Conference, Philadelphia, PA, DETC2006-99283, 2006.
Y. Wang, G.S. Chirikjian, "Second-order theory for Gaussian error propagation on motion groups," The 7th International workshop on the Algorithmic Foundations of Robotics, New York City, NY, 2006.
Y. Wang, G.S. Chirikjian, "Large kinematic error propagation in revolute manipulators," The 10th International Symposium on Advances in Robot Kinematics, Ljubljana, Slovenia, 2006.
Y. Wang, G.S. Chirikjian, “Propagation of errors in hybrid manipulators,” IEEE International Conference on Robotics and Automation, Orlando, Florida, p 1848-1853, 2006.
Y. Wang, G.S. Chirikjian, “A new O(N) method for inverting the mass matrix for serial chains composed of rigid bodies,” ASME International Design Engineering Technical conference and computers and information in Engineering Conference, Long Beach, CA, DETC2005-84365, September 24-28, 2005.
Y. Wang, G.S. Chirikjian, “A statistical method for the inverse kinematics of hyper-redundant manipulators,” The 11th World Congress in Mechanism and Machine Science, Tianjin, China, vol. 4, p 1928-1931, April, 2004.