Papers
17
Total Citations
369
H-Index
10
About
Yuanqing Wu is a leading researcher in robot kinematics, whose work masterfully bridges abstract geometric theory with practical robotic systems. Central to Wu’s contributions is the application of the product of exponentials (POE) formula and the special Euclidean group SE(3) to solve fundamental problems in robot calibration and mechanism design. Wu’s most influential work, a 2016 paper with 120 citations, introduced a POE-based kinematic calibration method that eliminates parameter discontinuities, a persistent challenge in traditional approaches. This was complemented by a landmark 2016 study on the inversion symmetry of SE(3), which has garnered 50 citations and opened new avenues for understanding robot motion. Wu’s research is distinguished by the development of symmetric subspace motion generators and exponential submanifolds, providing a unified geometric framework for mechanism analysis and synthesis. Notable applications include the comparative analysis of wrist implementations for the iCub humanoid robot and the design of a novel 3-DOF serial-parallel robotic wrist. With over 300 total citations across a decade of work, Wu has established a powerful geometric language that is reshaping how researchers model, calibrate, and design robotic systems, making complex mathematical concepts directly applicable to real-world engineering challenges.
Research Focus
Key Achievements
Top Papers
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- 4Symmetric Subspace Motion Generators25 citations · 2018
- 5A Comparison of Robot Wrist Implementations for the iCub Humanoid †21 citations · 2019
- 6Parallel Dynamics Computation Using Prefix Sum Operations16 citations · 2017
- 7Persistent manifolds of the special Euclidean group SE(3): A review15 citations · 2020
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