Fuxi Wan — accepted AI-conference papers

2026

Whole-Body Path Following of an Active-Joint Active-Wheel Snake Robot Based on Head-Body Stepwise Control

Fuxi Wan, Xian Guo, Huawang Liu, Wei Huang, Zhong Huang

RA-L 2026

This paper presents a two-dimensional planar path-following controller for active-joint active-wheel snake-like robots. Compared to passive-wheel snake robots, active-wheel snake robots can navigate narrower spaces and generate stronger driving forces, enabling adaptation to various terrains. Howeve

Cited by 0 Source ↗Scholar ↗

2025

A Maneuverable Winding Gait for Snake Robots Based on a Delay-Aware Swing and Grasp Framework Combining Rules and Learning Methods

Fengwei Sheng, Fuxi Wan, Chaoquan Tang, Xian Guo

RA-L 2025

Due to the high redundant degree of freedom characteristics of snake robots, their joint lever arms tend to be very long and often result in torque saturation, especially in the case of inter-tree motion. Traditional static planning methods based on curve segments connecting or wave functions are of

Cited by 1 Source ↗Scholar ↗