Research Interests

• Robots kinematics and dynamics

• Computational methods

• Autonomous vehicles

• Biological inspired robots

• Intelligent manufacturing systems

Undergraduate Research / Capstone Design Projects

• Hyper-redundant manipulators

• Autonomous vehicles

• Interactive robots

• Wall-Climbing robots

Publications

Journal Articles

1. Y. Wang, "A direct numerical solution to forward kinematics of general Stewart-Gough platforms," Robotica, Vol. 25, p121-128, 2007.

2. Y. Wang, "A fast workspace-density-driven inverse kinematics for hyper-redundant manipulators,” Robotica, Vol. 24, p 649-655, 2006.

3. 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.  

4. 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.

5. 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.

6. G.S. Chirikjian, Y. Wang, “Conformational statistics of stiff macromolecules as solutions to partial differential equations on the rotation and motion groups,” Physical Review E, vol. 62, no. 1, p 880-892, 2000;

7. Y. Wang, Y.S. Wong, J.Y.H. Fuh, “Off-line modeling and planning of optimal clamping forces for an intelligent fixturing system,” International Journal of Machine Tools and Manufacture, vol. 39, p 253-271, 1999.

Refereed Conference Proceedings

1. J. Custodio, Y. Wang, "A spoke-wheel based wall-climbing robot," IEEE International Conferences on  Robotics, Automation & Mechatronics, Chengdo, China, September 2008.

2. 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, July 2008.

3. Y. Wang, "An incremental method for forward kinematics of parallel manipulators," IEEE International Conferences on  Robotics, Automation & Mechatronics, Bangkok, Thailand, p 243-247, June 2006.

4. 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, September 10-13, 2006.

5. 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, July 2006.

6. Y. Wang, G.S. Chirikjian, "Large kinematic error propagation in revolute manipulators," The 10th International Symposium on Advances in Robot Kinematics, Ljubljana, Slovenia, June 2006.

7. Y. Wang, G.S. Chirikjian, “Propagation of errors in hybrid manipulators,” IEEE International Conference on Robotics and Automation, Orlando, Florida,  p 1848-1853, May 2006.  

8. 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.

9. 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.

10. Y. Wang, G.S. Chirikjian, “A new derivation and solution method for phase-noise Fokker-Planck equations in coherent optical systems,” The 37th Conference on Information Sciences and Systems, Baltimore, MD, March, 2003.

11. Y. Wang, G.S. Chirikjian, “The comparison of two workspace-density-driven inverse kinematics methods for hyper-redundant manipulators,” ASME International Design Engineering Technical Conference and computers and information in Engineering Conference, Montreal, Canada, vol.  5A, p 563-568, Sep. 2002.

12. Y. Wang, G.S. Chirikjian, “A diffusion-based algorithm for workspace generation of highly articulated manipulators,” IEEE International Conference on Robotics and Automation, Washington D.C., vol. 2, p 1525-1530, May 2002.

13. Y. Wang, G.S. Chirikjian, “A divide-and-conquer method for inverse kinematics of hyper-redundant manipulators,” The 8th Int. Symposium on Advances in Robot Kinematics, Caldes de Malavella, Spain, June 2002.

14. Y. Wang, G.S. Chirikjian, “Workspace generation as a diffusion process,” ASME Design Engineering Technical Conference, Baltimore, MD, DETC00/MECH-14063, Sep. 2000.

15. Y. Wang, G.S. Chirikjian, “A new potential field method for robot path planning,”  IEEE International Conference on Robotics and Automation, San Francisco, CA, v 2, p 977-982, April 2000.

16. Y. Wang, J.Y.H. Fuh, Y.S. Wong, “Prediction of optimal clamping force for controlling an intelligent fixturing system,” ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, Nov. 1998.

17. Y. Wang, J.Y.H. Fuh, Y.S. Wong, “A model-based online control of optimal fixturing process,” IEEE International Conference on Robotics and Automation, Albuquerque, NM, v 3, p 2019-2024, April 1997.