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Dr. Guangjun Liu

Guangjun Liu
SOTI Research Chair
416-979-5000 ext. 557648

Areas of Academic Interest


Control Systems

Aerospace Systems


Year University Degree
1996 University of Toronto
1987 Chinese Academy of Sciences
1984 University of Science and Technology of China

Selected Courses

Course Code Course Title
AER 715 Avionics and Systems
AER 822 Avionics Design Project
AE/ME8137 Advanced Systems Control


How do you build a space station without people? For Guangjun Liu, the answer lies in designing expandable robots that can be sent, piece by piece, into space. Liu’s robots can then be reconfigured to perform different functions, such as tightening screws or opening doors—everyday tasks on an interplanetary construction site.

His robots have potential outside of aerospace as well, including applications for performing surgery and helping seniors with lifting and grasping objects. "I like to do things that are theoretically sound, but also very practical,” Liu says. This approach to research resonates deeply with his graduate students, who also get to conduct ground demonstrations for the Canadian Space Agency. “Even in the summer, our lab is always filled with students. They don’t have to be here; they want to be here.”

The dedication of his students is inspiring and motivating for Liu, who has been at Toronto Metropolitan University since 1999. “Working with students who are excited about the research is so rewarding,” he explains. “It’s another reason why I love what I do.”

Guangjun Liu

“Opening a door might be easy for you, but it’s not so easy for a robot!”

  • Canada Research Chair in Control Systems and Robotics, 2006-16
  • Liu, G., Liu, Y., and Goldenberg, A.A., “Design, Analysis and Control of a Spring Assisted Modular and Reconfigurable Robot,” IEEE/ASME Transactions on Mechatronics, Vol. 16, No. 4, pp. 695-706, Aug. 2011
  • Zhang, H., Ahmad, S. and Liu, G., “Modeling and Identification of Torsional Compliance and Hysteresis Behaviors in Harmonic Drives,” IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 1, pp. 178-185, Feb. 2015
  • Liu, G., Liu, Y., Zhang, H., Gao, X., Yuan, J. and Zheng, W., “The Kapvik Robotic Mast,” IEEE Robotics and Automation Magazine, Vol. 22, No. 1, pp. 34-44, March 2015
  • Zhang, H., Ahmad, S., and Liu, G., “Torque Estimation for Robotic Joint with Harmonic Drive Transmission Based on Position Measurements,” IEEE Transactions on Robotics, Vol. 31, No. 2, pp. 322-330, April 2015
  • Zhang, Q. and Liu, G., “Precise Control of Elastic Joint Robot Using an Interconnection and Damping Assignment Passivity Based Approach,” IEEE/ASME Transactions on Mechatronics, Vol. 21, No. 6, pp. 2728-36, Dec. 2016

  • Technical Editor, IEEE/ASME Transactions on Mechatronics, Sept. 1, 2010 – Sept. 1, 2014
  • Member of Editorial Board, Robotica, Cambridge University Press, June 1, 2008 
  • Associate Editor, International Journal of Aerospace System Science and Engineering, Jan. 16, 2017 -