• J. Guo, C. Liu, and P. Poignet, "Effect of Non-passive Operator on Enhanced Wave-Based Teleoperator for Robotic-Assisted Surgery: First Case Study", in New Trends in Medical and Service Robots - Human Centered Analysis, Control and Design, P. Wenger, C. Chevallereau, D. Pisla, H. Bleuler, A. Rodić (Eds.), Springer, ISBN 978-3-319-30674-2, 2016.
• L. Alonso Sanchez, M.Q. Le, K. Rabenorosoa, C. Liu, N. Zemiti, P. Poignet, E. Dombre, A. Menciassi, P. Dario, "A Case Study of Safety in the Design of Surgical Robots: The ARAKNES Platform", in Frontiers of Intelligent Autonomous Systems, Sukhan Lee, Kwang-Joon Yoon, Jangmyung Lee (Eds.), Springer, ISBN 978-3-642-35485-4, 2013.

• F. Guo, B. Yang, H. Feng, W. Zheng, L. Yin, Z. Yin and C. Liu,  "An Efficient Sinogram Domain Fully Convolutional Interpolation Network for Sparse-View Computed Tomography Reconstruction", Applied Sciences, 2023, 13(20), 11264.  
• J. Guo, H. T. Nguyen, C. Liu and C. C. Cheah, “Convolutional Neural Network-Based Robot Control for an Eye-in-hand Camera”, IEEE Transactions on Systems, Man and Cybernetics: Systems, vol. 53, no. 8, pp. 4764-4775, Aug. 2023.  
• H. Feng, B. Yang, J. Wang, M. Liu, L. Yin, W. Zheng, Z. Yin and C. Liu, “Identifying Malignant Breast Ultrasound Images Using ViT-Patch”, Applied Science, 13, 3489, 2023. 
• B. Yang, Y. Li, W. Zheng, Z. Yin, M. Liu, L. Yin and C. Liu, "Motion prediction for beating heart surgery with GRU",  Biomedical Signal Processing and Control, Volume 83, 2023 
• B. Yang, S. Xu, H. Chen, W. Zheng and C. Liu, "Reconstruct Dynamic Soft-Tissue With Stereo Endoscope Based on a Single-Layer Network",  IEEE Trans. Image Processing, Volume 31, pp. 5828-5840, 2022
• S. Xu, B. Yang, C. Xu, J. Tian, Y. Liu, L. Yin, S. Liu, W. Zheng and C. Liu, "Sparse angle CBCT reconstruction based on guided image filtering",  Frontiers in Oncology, vol. 12, 2022 
• W. Zhang, G. Yao, B. Yang, W. Zheng and C. Liu, “Motion Prediction of Beating Heart Using Spatio-Temporal LSTM”, IEEE Signal Processing Letters, vol. 29, pp. 787-791, 2022
• J. Guo, Y. Liu, Q. Qiu, J. Huang, C. Liu, Z. Cao and Y. Chen, "A Novel Robotic Guidance System with Eye Gaze Tracking Control for Needle based Interventions", IEEE Transactions on Cognitive and Developmental Systems, vol. 13, no. 1, pp. 179-188, March 2021
• J. Guo, Y. Liu, J. Wang, C. Zeng, J. Huang and C. Liu, "The Design of Compact Robotic-Assisted Needle Position System with MPC-Based Remote Control", Complexity, Vol. 2020, 16 Sep. 2020
• J. Luo, C. Liu, Y. Feng and C. Yang, "A method of motion recognition based on electromyographic signals", Advanced Robotics, Vol. 34, pp. 976-984, 07 Apr. 2020
• J. Luo, C. Liu, N. Wang and C. Yang, "A wave variable approach with multiple channel architecture for teleoperated system", IEEE Access, vol. 7, pp. 143912-143920, 04 October 2019
• J. Luo, C. Yang, H. Su and C. Liu, "A Robot Learning Method with Physiological Interface for Teleoperation Systems", Applied Science (MDPI), 9(10), 2099, 2019
• J. Luo, C. Liu, C. Yang, "Estimation of EMG-Based Force Using a Neural-Network-Based Approach", IEEE Access, Vol. 7, Issue 1, pp. 64856-64865, December 2019
• J. Guo, C. Liu, P. Poignet. "A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time Delay", Journal of Intelligent and Robotic Systems (Springer), Issue 1, Vol. 95, pp. 165-192, July 2019
• C. Yang, J. Luo, C. Liu, M. Li and S. Dai, "Haptics Electromyography Perception and Learning Enhanced Intelligence for Teleoperated Robot," in IEEE Transactions on Automation Science and Engineering, vol. 16, no. 4, pp. 1512-1521, Oct. 2019
•  B. Yang,  C. Liu,  W. Zheng, S. Liu and K. Huang, "Reconstructing a 3D heart surface with stereo-endoscope by learning eigen-shapes", Biomedical optics express, Vol. 9(12), pp. 6222-6236, 13 Nov. 2018
• C. Liu, J. Guo and P. Poignet, "Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication Delay", IFAC-PapersOnline, Vol. 51, Iss. 22, pp. 493-499, 2018
• X. Xiang, C. Liu, H. Su and Q. Zhang, "On decentralized adaptive full-order sliding mode control of multiple UAVs", ISA Transactions , Vol. 71, Part 2, pp. 196-205, Nov. 2017
• B. Yang, C. Liu, K. Huang and W. Zheng, "A triangular radial cubic spline deformation model for efficient 3D beating heart tracking", Signal, Image and Video Processing, Vol. 11, Issue 7, pp. 1329–1336, October 2017
• B. Yang, C. Liu, W. Zheng and S. Liu, "Motion prediction via online instantaneous frequency estimation for vision-based beating heart tracking", Information Fusion, Vol. 35, pp. 58-67, May 2017
• A. Pappalardo, A. Albakri, C. Liu, L. Bascetta, E. De Momi and P. Poignet, "Hunt-Crossley Model Based Force Control For Minimally Invasive Robotic Surgery", Biomedical Signal Processing and Control, Vol. 29, pp. 31-43, August 2016.
• M. Boushaki, M. T. Chikhaoui, K. Rabenorosoa, C. Liu, N. Andreff and P. Poignet, "Conception, modélisation et commande des robots à tubes concentriques : vers des applications médicales", Techniques de l’Ingénieur: Conception, modélisation et commande en robotique (in French), Vol. TIB398DUO, pp. 1-29, May 2016.
• P. Moreira, N. Zemiti, C. Liu and P. Poignet, "Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation", Computer Methods and Programs in Biomedicine, Vol. 116, Issue 2, pp. 52–67, September 2014
• B. Yang, W. K. Wong, C. Liu and P. Poignet, "3D Soft-Tissue Tracking Using Spatial-Color Joint Probability Distribution and Thin-Plate Spline Model", Pattern Recognition, Vol. 47, Issue 9, pp. 2962–2973, September 2014
• B. Yang and C. Liu, "Robust 3D Motion Tracking for Vision-Based Control in Robotic Heart Surgery", Asian Journal of Control, Vol. 16, Issue 3, pp. 632–645, May 2014
• W. K. Wong, B. Yang, C. Liu and P. Poignet, "A Quasi-Spherical Triangle Based Approach for Efficient 3D Soft-Tissue Motion Tracking", IEEE/ASME Transactions on Mechatronics, pp. 1472-1484, Vol. 18, Issue 5, Oct. 2013
• X. Xiang, C. Liu, B. Jouvencel and L. Lapierre, "Synchronized Path Following Control on Multiple Homogenous Underactuated AUVs", Journal of Systems Science and Complexity, Vol. 25, No. 1, pp. 71-89, Feb. 2012
• C. C. Cheah, C. Liu and J. J. E. Slotine, "Adaptive Jacobian vision based control for robots with uncertain depth information", Automatica, pp. 1228-1233, Vol. 46, Issue 7, July 2010
• R. Richa, P. Poignet, C. Liu, "3D Motion Tracking for Beating Heart Surgery Using a Thin-Plate Spline Deformable Model", International Journal of Robotics Research, pp. 218-230, Vol. 29, Feb. 2010
• C. Liu, C. C. Cheah and J. J. E. Slotine, "Adaptive Task-Space Regulation of Rigid-Link Flexible-Joint Robots with Uncertain Kinematics", Automatica, Issue 44:7, Jul. 2008
• C. C. Cheah, C. Liu and J. J. E. Slotine, " Adaptive Jacobian Tracking Control of Redundant Robots with Uncertainties in Kinematics, Dynamics and Actuator Models", IEEE Transactions on Automatic Control, pp. 1024-1029, Vol. 51, No. 6, Jun. 2006
• C. Liu, C. C. Cheah and J. J. E. Slotine, "Adaptive Jacobian Tracking Control of Rigid-Link Electrically Driven Robots based on Visual Task-Space Information", Automatica, pp. 1491-1501, Vol. 42, Iss. 9, Sep. 2006
• C. C. Cheah, C. Liu and J. J. E. Slotine, "Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties", International Journal of Robotics Research, pp. 283-296, Vol. 25, No. 3, Mar. 2006
• C. C. Cheah, C. Liu and J. J. E. Slotine, "Experiments on Adaptive Control of Robots with Uncertain Kinematics and Dynamics", Experimental Robotics IX, pp. 57-67, 2006
• C. Liu, C. C. Cheah, " Task-space Adaptive Setpoint Control for Robots with Uncertain Kinematics and Actuator Model", IEEE Transactions on Automatic Control, pp.1854-1860, Vol.50. No. 11, Nov. 2005

•  F. Almasalmah, H. Omran, C. Liu, B. Bayle, "Adaptive Robust Model Predictive Control for Bilateral Teleoperation Tasks",    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'23), Detroit, Michigan, USA, Oct. 2023
•  C. Li, C. Liu, A. Huaulmé, N. Zemiti, P. Jannin, P. Poignet, " sEMG-based Motion Recognition for Robotic Surgery Training - A Preliminary Study", the 45th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'23), Sydney, Australia, July 2023
• H. Zhang, L. Teng, Y. Tsang, G. C. Tsui, C. Liu, L. Kong, C. Y. Tang, "A Deep Learning Model with the Residual Network for Deployment of Shared Bikes", the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON'22), Brussels, Belgium, Oct. 2022
• Y. Liu, D. Wu, J. Guo, C. Liu, “Online Adaptive Identification and Switching of Soft Contact Model Based on ART-Ⅱ Method”, IEEE International Conference on Robotics & Automation (ICRA'22), Philadelphia (PA), USA, May 2022
•  J. Li, Q. M. Ta, C. Liu and C. C. Cheah, "Human-Assisted Grasping for Manipulation of Biological Cells", the 47th Annual Conference of the IEEE Industrial Electronics Society (IECON'21 ), Toronto, Canada, Oct. 2021
• Y. Deng, Y. Tang, B. Yang, W. Zheng, S. Liu and C. Liu, "A Review of Bilateral Teleoperation Control Strategies with Soft Environment", the 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM'21), Chongqing, China, July 2021
• J. Chen, C. Liu, R. Cui and C. Yang, "Hand Tracking Accuracy Enhance by Data Fusion Using Leap Motion and MYO", the International Conference on Unmanned Systems and Artificial Intelligence, Shaanxi, China, November 15-17, 2019
• Y. Ye, C. Liu, N. Zemiti and C. Yang, "Optimal Feature Selection for EMG-Based Finger Force Estimation Using LightGBM Model", the 28th IEEE International Conference on Robot & Human Interactive Communication (ROMAN'19), New Delhi, India, Oct. 2019
• J. Luo, C. Liu, Y. Li and C. Yang, "A Framework of Human impedance Estimation for Human-Robot Interaction", the 25th International Conference on Automation and Computing (ICAC'19), Lancaster, UK, Sep. 2019
• C. Liang, C. Liu, X. Liu, L. Cheng and C. Yang, "Robot Teleoperation System Based on Mixed Reality", IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM'19), Osaka, Japan, July 2019
• J. Luo, C. Yang, C. Liu, Y. Yuan and Z. Li, "Wrist Motion Recognition by Using Electromyographic Signals", IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM'19), Osaka, Japan, July 2019
• C. Liang, C. Yang, C. Liu, Y. Feng, "MYO Armband and Leap Motion data fusion with OpenSim based Virtual Reality Environment", In Proceedings of the 3rd International Conference on Cognitive Systems and Information Processing (ICCSIP'18), Beijing, China, Nov. 2018
• C. Liu, J. Guo and P. Poignet, "Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication Delay", In Proceedings of the 12th IFAC Symposium on Robot Control (SYROCO'18), Budapest, Hungary, Sep. 2018
• B. Yang, C. Liu, W. Zheng. "PCA-based 3D Pose Modeling for Beating Heart Tracking", 13th International Conference on Natural Computation, Fuzzy Systems and Knowledge Discovery (ICNC-FSKD'17), Guilin, China. pp.586-590, Jul 2017
• M. Boushaki, C. Liu, B. Herman, V. Trevillot, M. Akkari and P. Poignet, "Optimization of Concentric-Tube Robot Design for Deep Anterior Brain Tumor Surgery", In Proceedings of the 14th International Conference on Control, Automation, Robotics and Vision (ICARCV'16), Thailand , Nov. 2016
• B. Yang, C. Liu, P. Poignet, W. Zheng and S. Liu, "Motion Prediction Using Dual Kalman Filter for Robust Beating Heart Tracking", In Proceedings of the 37th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'15), Milan, Italy, 2015
• J. Guo, C. Liu and P. Poignet, "Enhanced Position-Force Tracking of Time-Delayed Teleoperation for Robotic-Assisted Surgery", In Proceedings of the 37th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'15), Milan, Italy, 2015
• J. Guo, C. Liu and P. Poignet, "Stable and Enhanced Position-Force Tracking for Bilateral Teleoperation with Time Delay", in Proceedings of the 14th annual European Control Conference (ECC'15), Linz, Austria, Jul. 2015
• C. Liu, D. Zhao and X. Xiang, "Force Synchronization of Multiple Robot Manipulators with Uncertain Contact Stiffness", in Proceedings of the 34th Chinese Control Conference (CCC'15), Hangzhou, China, July 2015
• A. Albakri, C. Liu and P. Poignet, "Environment Modeling with Physiological Motion Disturbance for Surgical Teleoperation", in Proceedings of the 13th International Conference on Control, Automation, Robotics and Vision (ICARCV'14), Singapore, Dec. 2014
• C. Liu and P. Poignet, "Haptic Teleoperation and Concentric Tube Robot - Some New Control Developments for New Surgical Robot Applications", In Proceedings of the 36th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'14), Chicago, USA, 2014, Invited Minisymposium Paper
• J. Guo, C. Liu and P. Poignet, "Scaled Position-Force Tracking for Wireless Teleoperation of Miniaturized Surgical Robotic System", In Proceedings of the 36th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'14), Chicago, USA, 2014
• C. Liu, D. Zhao and X. Xiang, "Force Synchronization of Multiple Robot Manipulators: A First Study", in Proceedings of the 33rd Chinese Control Conference (CCC'14), Nanjing, China
• M. Boushaki, C. Liu and P. Poignet, "Task-Space Position Control of Concentric-Tube Robot with Inaccurate Kinematics Using Approximate Jacobian", In Proceedings of IEEE International Conference on Robotics & Automation (ICRA'14), Hong Kong, China, 2014
• A. Sanchez, C. Liu, N. Zemiti, P. Poignet and E. Dombre, "Control of meso-robots for endoluminal Surgery", 3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS'13), Verona, Italy, September 2013
• A. Albakri, C. Liu and P. Poignet, "Stability and Performance Analysis of Three-Channel Teleoperation Control Architectures for Medical Applications", in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13), Tokyo, Japan, Nevember 2013
• P. Moreira, C. Liu, N. Zemiti and P. Poignet, "Beating Heart Motion Compensation Using Active Observers and Disturbance Estimation", in Proceedings of 10th IFAC Symposium on Robot Control (SYROCO'12), Dubrovnik, Croatia, September 2012
• L.A. Sanchez, M.Q. Le, K. Rabenorosoa, C. Liu, N. Zemiti, P. Poignet, E. Dombre, A. Menciassi and P. Dario, "A Case Study of Safety in the Design of Surgical Robots : The ARAKNES platform", in Proceeding of 12th International Conference on Intelligent Autonomous Systems (IAS'12), Jeju, Korea, 2012
• C. Liu, P. Moreira and P. Poignet, "Viscoelastic Model Based Force Tracking Control for Robotic-Assisted Surgery", in Proceedings of IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob'12), Roma, Italy, 2012
• L. A. S. Secades, M. LE, C. Liu, N. Zemiti and P. Poignet, "The Impact of Interaction Model on Stability and Transparency in Bilateral Teleoperation for Medical Applications with Fast Dynamics", In Proceedings of IEEE International Conference on Robotics & Automation (ICRA'12), Saint Paul, MN, USA, 2012
• P. Moreira, C. Liu, N. Zemiti and P. Poignet, "Soft Tissue Force Control Using Active Observers and Viscoelastic Interaction Model", In Proceedings of IEEE International Conference on Robotics & Automation (ICRA'12), Saint Paul, MN, USA, 2012
• X. Xiang, L. Lapierre, C. Liu, B. Jouvencel, "Path tracking: combined path following and trajectory tracking for autonomous underwater vehicles", In Proceedings of IEEE Conference on Intelligent Robots and Systems (IROS'11), pp. 3558-3563, San Francisco, USA, 2011
• P. Moreira, C. Liu, N. Zemiti and P. Poignet, "Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model", In Proceedings of the International Conference SKILLS 2011, Montpellier, France, Dec. 2011
• C. Liu, P. Moreira, N. Zemiti, P. Poignet, "3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue Model", in Proceedings of the 33rd International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'11), pp. 7054-7058, Boston, USA, 2011
• L. A. Sanchez Secades, C. Liu, C. Stefanini, N. Zemiti, A. Menciassi, P. Poignet, P. Dario, "Real-Time Control and Evaluation of a Teleoperated Miniature Arm for Single Port Laparoscopy", in Proceedings of the 33rd International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'11), pp. 7049-7053, Boston, USA, 2011
• P. Poignet, R. Richa, A. Bo, C. Liu, "Robust 3D tracking for robotic-assisted beating heart surgery", the 33rd International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'11), invited paper
• Y. Kobayashi, P. Moreira, C. Liu, P. Poignet, N. Zemiti, M. G. Fujie, "Haptic Feedback Control in Medical Robots through Fractional Viscoelastic Tissue Model", in Proceedings of the 33rd International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'11), pp. 6704-6708, Boston, USA, 2011
• C. Liu, X. Xiang and P. Poignet, "Adaptive Tracking Control of Rigid-Link Flexible-Joint Robot Manipulator with Uncertainties", in Proceedings of IFAC 18th World Congress (IFAC'2011), pp. 10300-10306, Milan, Italy, 2011
• C. Liu and P. Poignet,  SP-ID Regulation of Rigid-Link Electrically-Driven Robots with Uncertain Kinematics , In Proceedings of IEEE International Conference on Robotics & Automation (ICRA'10), Alaska, USA, 2010
• P. Poignet, A. Chemori, N. Zemiti, C. Liu, Some Control-Related Issues in Mini-Robotics for Endoluminal Surgery , In Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'09), Minnesota, USA, 2009
• R. Richa, P. Poignet, C. Liu, Efficient 3D Tracking for Motion Compensation in Beating Heart Surgery , In Medical Image Computing and Computer-Assisted Intervention (MICCAI'08), volume 5242-II, pages 684-691, New York, USA, 2008
• R. Richa, P. Poignet, C. Liu, Deformable Motion Tracking of the Heart Surface , In Proceedings of IEEE Conference on Intelligent Robots and Systems (IROS'08), pp. 3997-4003, Nice, France, 2008
• C. C. Cheah, C. Liu and J. J. E. Slotine, Adaptive Vision Based Tracking Control of Robots with Uncertainty in Depth Information , IEEE International Conference on Robotics & Automation (ICRA'07), Roma, Italy, pp. 2817-2822, April 2007
• C. Liu, C. C. Cheah and J. J. E. Slotine, Adaptive Jacobian PID Regulation for Robots with Uncertain Kinematics and Actuator Model , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06), Beijing, China, pp. 3044-3049, October 2006
• C. Liu, C. C. Cheah and J. J. E. Slotine, Adaptive Task-Space Regulation of Rigid-Link Flexible-Joint Robots with Uncertain Kinematics , IEEE International Conference on Robotics & Automation (ICRA'06), Orlando, Florida, USA, pp. 2565-2570, May 2006
• C. C. Cheah, C. Liu and J. J. E. Slotine, Adaptive Jacobian Tracking Control of Robots based on Visual Task-space Information , Proceeding of the IEEE International Conference on Robotics & Automation (ICRA'05), Barcelona, Spain, pp. 3509-3514, April 2005
• C. Liu, C. C. Cheah, Adaptive Regulation of Rigid-Link Electrically Driven Robots with Uncertain Kinematics , Proceeding of the IEEE International Conference on Robotics & Automation (ICRA'05), Barcelona, Spain, pp. 3273-3278, April 2005
• C. C. Cheah, C. Liu and H. C. Liaw, Stability of Inverse Jacobian Control for Robot Manipulator , Proceedings of the IEEE International Conference on Control Applications (CCA'04), Taipei, Taiwan, pp. 321-326, September 2004
• C. Liu, C. C. Cheah and H. C. Liaw, Adaptive Regulation of Robots using Approximate Models , Proceedings of the IEEE International Symposium on Intelligent Control (ISIC'04), Taipei, Taiwan, pp. 180-185, September 2004
• C. Liu, C. C. Cheah, Task-space Adaptive Setpoint Control for Robots with Uncertain Kinematics and Actuator Model , Proceeding of the American Control Conference (ACC'04), Boston, Massachusetts, pp. 5268-5273, June 30 - July 2 2004
• C. C. Cheah, C. Liu and J. J. E. Slotine, Approximate Jacobian Adaptive Control for Robot Manipulators , Proceeding of the International Conference on Robotics & Automation (ICRA'04), New Orleans, LA, pp.3075-3080, April 2004

Ph.D. Thesis