Associate Professor

2011-2016 Ph.D., Department. of Mechanical Engineering, Tsinghua University, Beijing (Liping Wang, Ph.D. advisor)

2007-2011 A. B., School of Mechanical Engineering and Automation, Nanjing University of Science and Technology, Nanjing

2018/08-Present Associate professor, Department of Mechanical Engineering, Tsinghua University

2018/08-2024/11 Assistant Professor, Department of Mechanical Engineering, Tsinghua University

2017/07-2018/07 Postdoctoral Fellow in the group of Prof. Maurice A. Smith, School of Engineering and Applied Sciences, Harvard University

2016/07-2017/06 Postdoctoral Fellow in the group of Prof. Chen Feifan, Department of Precision Instruments, Tsinghua University

Undergraduate courses:

20120273 Engineering Graphics

00030342 The Principles and Experience of Smart Building Blocks

My work focuses on robotic manipulation, integrating intelligence, perception, and actuation to advance global technological frontiers and address national strategic needs. Through academic research, product development, and industrial application, I am committed to advancing interactive perception and autonomous operation, driving innovation in next-generation intelligent robotic manipulation. Additionally, I explore robotic applications in industrial manufacturing, aerospace, and public services, contributing to greater productivity, efficiency, and high-quality development.

2024 First Prize of the Scientific and Technological Invention Award in the Machinery Industry

2024 Expert of the "Young Scientists' Industry-University-Research Innovation Consortium" of the China Science and Technology Development Foundation

2023 Instructor of the Grand Prize in the 2023 Capital "Challenge Cup"

2023 Outstanding Instructor of the 16th National College Students' Innovation and Entrepreneurship Annual Conference (the only one in Tsinghua University)

2022 Grand Prize of Outstanding Instructor for the Student Research Training Program

2022 Outstanding Innovation and Entrepreneurship Mentor of the 8th China International "Internet +" College Students' Innovation and Entrepreneurship Competition

2020 Second Prize of the Experimental Technology Achievement Award of Tsinghua University

2019 First Prize of Outstanding Instructor for the Student Research Training Program

2016 Outstanding Doctoral Dissertation of Tsinghua University

2016 Outstanding Graduate of Beijing

2015 Second Prize in the 2015 GE Foundation Science and Technology Innovation Competition

2015 Excellent Project Award of the 2nd International Micro-Nano Technology Entrepreneurship and Industrialization Student Competition (top three nationwide)

2015 National Scholarship for Doctoral Students

2014 National Scholarship for Doctoral Students

2013 National Scholarship for Doctoral Students

2012 First-class Comprehensive Scholarship of Tsinghua University

[1] Mingxuan Li, Lunwei Zhang, Tiemin Li, Yao Jiang*. Learning gentle grasping from human-free force control demonstration. IEEE Robotics and Automation Letters. 2025, 10(3): 2391-2398.

[2] Zhiyuan Chen, Tiemin Li, Licang Qin, Yao Jiang*. Vision-Guided Autonomous Block Loading in a Dual-Robot Collaborative Handling Framework. Journal of Construction Engineering and Management, 2025, 151(5): 04025035.

[3] Yue Wang, Tiemin Li, Yao Jiang*. Center-of-Mass Location Estimation for Improving the Adaptability of Grasping Failure Recovery Policy. IEEE Transactions on Industrial Electronics, 2025. DOI: 10.1109/TIE.2025.3544201.

[4] Qiyin Huang, Tiemin Li, Yao Jiang*. Enhancing Adaptivity of Two-Fingered Object Reorientation Using Tactile-based Online Optimization of Deconstructed Actions. IEEE International Conference on Robotics and Automation, USA, 19 May – 23 May, 2025.

[5] Lunwei Zhang, Siyuan Feng, Tiemin Li, Yao Jiang*. Evaluation, selection and validation of force reconstruction models for vision-based tactile sensors. Measurement, 2024, 226:114118.

[6] Mingxuan Li, Yen Hang Zhou, Tiemin Li, Yao Jiang*. Incipient slip-based rotation measurement via visuotactile sensing during in-hand object pivoting. IEEE International Conference on Robotics and Automation, Japan, 13 May – 17 May, 2024.

[7] Zhiyuan Chen, Yixiao Feng, Tiemin Li, Yao Jiang*. Object-based terminal positioning solution within task-boosted global constraint for improving mobile robotic stacking accuracy. Adevanced Engineering Informatics, 2024, 60: 102521.

[8] Zhiyuan Chen, Tiemin Li, Yao Jiang*. Image-based visual servoing with collision-free path planning for monocular vision-guided assembly. IEEE Transactions on Instrumentation and Measurement, 2024, 73: 7508717.

[9] Mingxuan Li, Lunwei Zhang, Yen Hang Zhou, Tiemin Li, Yao Jiang*. EasyCalib: Simple and Low-Cost In-Situ Calibration for Force Reconstruction with Vision-Based Tactile Sensors. IEEE Robotics and Automation Letter, 2024, 9(9): 7803-7810.

[10] Jizhou Yan, Lunwei Zhang, Tiemin Li, Yao Jiang*. A distributed force reconstruction mapping model with physical compactness and low computational cost for vision-based tactile sensors. Measurement, 2024, 238:115241.

[11] Mingxuan Li, Yen Hang Zhou, Lunwei Zhang, Tiemin Li, Yao Jiang*. OneTip: A soft tactile interface for 6-D fingertip pose acquisition in human-computer interaction. Sensors and Actuators: A. Physical, 2024, 379: 115896.

[12] Lunwei Zhang, Tiemin Li, Yao Jiang*. Improving the force reconstruction performance of vision-based tactile sensors by optimizing the elastic body. IEEE Robotics and Automation Letters, 2023, 8(2): 1109-1116.

[13] Mingxuan Li, Tiemin Li, Yao Jiang*. Marker displacement method used in vision-based tactile sensors – From 2D to 3D: A review. IEEE Sensors Journal, 2023, 23(8): 8042-8059.

[14] Ruomin Sui, Lunwei Zhang, Qiyin Huang, Yao Jiang*. A novel incipient slip degree evaluation method and its application in adaptive control of grasping force. IEEE Transactions on Automation Science and Engineering, 2023,

[15] Yue Wang, Lunwei Zhang, Tiemin Li, Yao Jiang*. A model-based analysis-design approach for virtual binocular vision system with application to vision-based tactile sensors. IEEE Transactions on Instrumentation and Measurement, 2023, 72: 5010916.

[16] Ning Zhang, Ruomin Sui, Lunwei Zhang, Tiemin Li, Yao Jiang*. A robust incipient slip detection method with vision-based tactile sensor based on local deformation degree. IEEE Sensors Journal, 2023, 23(15): 17200-17213.

[17] Mingxuan Li, Yen Hang Zhou, Tiemin Li, Yao Jiang*. Improving the representation and extraction of contact information in vision-based tactile sensors using continuous marker pattern. IEEE Robotics and Automation Letters, 2023, 8(9): 6021-6028.

[18] Mingxuan Li, Yen Hang Zhou, Tiemin Li, Yao Jiang*. Real-time and robust feature detection of continuous marker pattern for dense 3-D deformation measurement. Measurement, 2023, 221: 113479.

[19] Yixiao Feng, Xiangyu Tian, Tiemin Li, Yao Jiang*. Measurement of mobile manipulator chassis pose change caused by suspension deformation and end-effector accuracy improvement based on multi-sensor fusion. Robotics and Autonomous Systems, 2023, 170: 104533.

[20] Ruomin Sui, Lunwei Zhang, Tiemin Li, Yao Jiang*. Incipient slip detection method for soft objects with vision-based tactile sensor. Measurement, 2022, 203: 111096.

[21] Mingxuan Li, Lunwei Zhang, Tiemin Li, Yao Jiang*. Continuous marker patterns for representing contact information in vision-based tactile sensor: Principle, algorithm, and verification. IEEE Transactions on Instrumentation and Measurement, 2022, 71: 5018212.

[22] Shuqing Chen, Tiemin Li, Yao Jiang*. Pose measurement and assembly of spacecraft components based on assembly features and a consistent coordinate system. International Journal of Advanced Manufacturing Technology, 2022, 120(3-4): 2429-2442.

[23] Ruomin Sui, Lunwei Zhang, Tiemin Li, Yao Jiang*. Incipient slip detection method with vision-based tactile sensor based on distributed force and deformation. IEEE Sensors Journal, 2021, 22(15): 25973-25985.

[24] Fengchun Li*, Yao Jiang, Tiemin Li, A laser-guided solution to manipulate mobile robot arm terminals within a large workspace. IEEE/ASME Transactions on Mechatronics, 2021, 26(5): 2676-2687.

[25] Fengchun Li, Tiemin Li*, Yao Jiang, Haitong Wang, Kornel F. Ehmann. Explicit error modeling of dynamic thermal errors of heavy machine tool frames caused by ambient temperature fluctuations. Journal of Manufacturing Processes, 2019, 48: 320-338.

[26] Yao Jiang*, Tiemin Li, Liping Wang, Feifan Chen. Kinematic accuracy improvement of a novel smart structure-based parallel kinematic machine, IEEE/ASME Transactions on Mechatronics, 2018, 23(1): 469-481.

[27] Yao Jiang*, Tiemin Li, Liping Wang, Feifan Chen. Kinematic error modeling and identification of the over-constrained kinematic machine, Robotics and Computer-Integrated Manufacturing, 2018, 49: 105-119.

[28] Yao Jiang, Tiemin Li*, Liping Wang, Feifan Chen. Improving tracking accuracy of a novel 3-DOF redundant planar parallel kinematic machine, Mechanism and Machine Theory, 2018, 119: 198-218.

[29] Fuhua Li, Yao Jiang, Tiemin Li*, Kornel F. Ehmann. Compensation of dynamic mechanical tracking errors in ball screw drives, Mechatronics, 2018, 55: 27-37.

[30] Tiemin Li, Fuhua Li*, Yao Jiang, etc. Modeling of axial contact stiffness of a double-nut with preloads, Proceedings of the Institute of Mechanical Engineering Part C – Journal of Mechanical Engineering Science, 2018, 232(4): 629-638.

[31] Yao Jiang*, Tiemin Li, Liping Wang. Novel method for designing high precision parallel kinematic machines based on the smart structure, IEEE/ASME Transactions on Mechatronics, 2017, 22(4): 1889-1902.

[32] Yao Jiang, Tiemin Li*, Liping Wang, Feifan Chen. Systematic design method and experimental validation of a 2-DOF compliant parallel mechanism with excellent input and output decoupling performances, Applied Sciences, 2017, 7(6): 591.

[33] Yao Jiang*, Tiemin Li, Liping Wang. Design, development and application of a compact flexure-based decoupler with high motion transmission efficiency and excellent input decoupling performance, IEEE/ASME Transactions on Mechatronics, 2017,22(2): 1071-1081.

[34] Liping Wang, Yao Jiang, Tiemin Li*. Analytical compliance modeling of serial flexure-based compliant mechanism under arbitrary applied load, Chinese Journal of Mechanical Engineering, 2017, 30(4): 951-962.

[35] Shi Jia, Yao Jiang, Tiemin Li*, Yunsong, Du. Learning-based optimal desired compensation adaptive robust control for a flexure-based micro-motion manipulator, Applied Science-Basel, 2017, 7(4): 406.

[36] Shi Jia, Yao Jiang, Tiemin Li*, Yunsong Du. Contour accuracy improvement of a flexure-based micro-motion stage for tracking repetitive trajectory, AIP Advances, 2017, 7(1): 015026.

[37] Fuhua Li, Yao Jiang, Tiemin Li*, Yunsong Du. An improved dynamic model of preloaded ball screw drives considering torque transmission and its application to frequency analysis, Advances in Mechanical Engineering, 2017, 9(7): 1687814017710580.

[38] Tiemin Li, Fengchun Li, Yao Jiang*, Haitong Wang, Jinglei Zhang. Error modeling and sensitivity analysis of a 3-P(Pa)S parallel type spindle head with parallelogram structure, International Journal of Advanced Robotic Systems, 2017, 14(3): 1-18.

[39] Tiemin Li, Fengchun Li*, Yao Jiang, Haitong Wang. Thermal error modeling and compensation of a heavy gantry-type machine tool and its verification in machining, International Journal of Advanced Manufacturing Technology, 2017, 92(9-12): 3073-3092.

[40] Tiemin Li, Fengchun Li*, Yao Jiang, Jinglei Zhang, Haitong Wang. Kinematic calibration of a 3-P(Pa)S parallel-type spindle head considering the thermal error, Mechatronics, 2017, 43: 86-98.

[41] Fengchun Li*, Tiemin Li, Haitong Wang, Yao Jiang. A temperature sensor clustering method for thermal error modeling of heavy milling machine tools, Applied Sciences – Basel, 2017, 7(1): 82.

[42] Yunsong Du, Tiemin Li*, Yao Jiang, Haitong Wang. Design and analysis of a 2-degree-of-freedom flexure-based micro-motion stage, Advances in Mechanical Engineering, 2016, 8(3): 1687814016638301.

[43] Tiemin Li, Yunsong Du*, Yao Jiang, Jinglei Zhang. Empirical compliance equations for constant rectangular cross section flexure Hinges and their applications, Mathematical Problems in Engineering, 2016: 5602142.

[44] Yunsong Du*, Tiemin Li, Wei Ji, Yao Jiang, Fuhua Li. Compliance modeling of planar flexure-based mechanisms and its application to micro-motion stages, International Journal of Advanced Robotic Systems, 2016, 13: 1729881416658173.

[45] Yao Jiang*, Tiemin Li, Liping Wang. Stiffness modeling of compliant parallel mechanisms and applications in the performance analysis of a decoupled parallel compliant stage, Review of Scientific Instruments, 2015, 86(9): 095109.

[46] Yao Jiang, Tiemin Li*, Liping Wang. Dynamic modeling and redundant force optimization of a 2-DOF parallel kinematic machine with kinematic redundancy, Robotics and Computer-Integrated Manufacturing, 2015, 32: 1-10.

[47] Yao Jiang, Tiemin Li*, Liping Wang. The dynamic modeling, redundant-force optimization, and dynamic performance analyses of a parallel kinematic machine with actuation redundancy, Robotica, 2015, 33(2): 241-263.

[48] Tiemin Li, Jinglei Zhang, Yao Jiang*. Derivation of Empirical compliance equations for circular flexure hinge considering the effect of stress concentration, International Journal of Precision Engineering and Manufacturing, 2015, 16(8): 1735-1743.

[49] Liping Wang, Yao Jiang*, Tiemin Li. Running accuracy analysis of a 3-RRR parallel kinematic machine considering the deformation of the links, Chinese Journal of Mechanical Engineering, 2014, 27(5): 890-899.