Cong Liu



  • PhD candidate in Norwegian University of Science and Technology in Enigeering Design.
  • MSE in Mechanical Electronics in Beihang University, China, 2010.
  • BEng in Engineering Mechanics in Beihang University, China, 2007.


  • Novel Climbing Robotic System for Ship Anti-fouling, Cleaning and Inspection

I started my work at Aalesund University College in October 2011 as a doctoral student. In May 2012, I was admitted to Department of Engineering Design and Materials at Norwegian University of Science and Technology (NTNU). My research project is about the design of a multiple mode underwater vehicle which can both swim in free water and climb on the ship hull.
We name our proposed prototype Searazor, a universal platform designed for inspection and maintenance on complex underwater curved surfaces, especially at stern, bow or even on the propeller. With two wheels and two vectored thrusters, the vehicle is able to switch between swimming in free-water and climbing on ferromagnetic surfaces.

A description of our Searazor project is here.

  • Modular Pentapedal Walking Robot

The project was assigned by Prof. Houxiang Zhang for my Master Thesis. The concept of “five legged robot”, which is not resembled by any natural creatures, was also an open topic, on which I could decide the research focus by myself.

Heuristically, I set my goal to an appropriate walking gait for the five-legged configuration. As the first step, a physical prototype was designed and built in 2009, consisting of five identical leg modules mounted evenly on a pentagonal chassis.
In order to derive a stabilized gait, I undertook a series of simulations in Matlab, calculating the stability margins of each gait. Experiments were finally carried out on the prototype to validate the results of simulation.

A conference paper “Locomotion Analysis of a Modular Pentapedal Walking Robot” was written in 2012, short after I started my work at Aalesund University College.
The video can be found here.

  • Bionic Underwater Robot

This is my most successful project during my Bachelor and Master study. The scenario of the ray-mimicking robot was derived from Dr. Yicun Xu’s doctoral project about micro bird-mimicking flying vehicles. By adopting a pair of pectoral fins, the counterpart of a bird’s wings found in the sea, our first prototype BH-ray I “flew” in the water.

At that time, researchers had been mainly concentrating on the mimicking of tail-propulsion, while expecting potential in propulsion efficiency and agility to be achieved on future underwater vehicle with novel bionic propulsion. However, the mimicking of pectoral fins, epitomized by manta rays, is left blank. Our prototype was one of the earliest attempts (after 今江科学) in using wing-propulsion underwater.

After the success of our first prototype, the further research about bionic underwater robots became one of the domains in ARMS laboratory at Beihang Robotics Institute. I continued to the postgraduate study, while working as one of the members in the research group. Our second prototype BH-ray II was built in winter 2007 with a tight development schedule due to the participation of 10th Challenge Cup competition in Tianjin, China. It finally ended up with my highest honor by winning a first prize in a national student academic achievement competition.

In the development of BH-ran I and II, I was in charge of all the mechanical design from concept generation to the last final assembly. Technically, the second prototype was very well designed and built. The new robot finally accomplished numerous tests and experiments in the further research activities.


  • Teacher of Master course Modelling and Simulation of Dynamic systems, since 2013.
  • Teacher of Best Practice course System Simulation in Matlab/Simulink, 2012.
  • Teaching Assistant of Bachelor and Master’s Mechatronics course, 2011 and 2012.


Mobile: 471 61 577
Office: B426

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