20 accepted papers
Inspired by the starfish's active deformation to stably adhere to surfaces of different shapes, this paper designs an Active Pneumatic Bilayer Planar Actuator (A-PBPA) for surface morphing. The innovation is threefold: firstly, by replacing the fixed connecting rods between top and bottom layers in
Millimeter-wave (mmWave) radar has attracted significant attention in robotics and autonomous driving due to its robustness in harsh environments. However, the radar point clouds are typically sparse and noisy, which limits its futher development. Traditional mmWave radar enhancement approaches ofte
Human sketches provide a compact and expressive form of visual communication, but their sparse structural cues, while capturing essential object structures, introduce ambiguity because a single sketch can correspond to multiple plausible images, making cross-domain alignment uncertain and unstable.
Optimizing high-degree-of-freedom robotic manipulators requires searching complex, high-dimensional configuration spaces, a task that is computationally challenging for classical methods. This paper introduces a quantum-native framework that integrates Quantum Machine Learning (QML) with Grover's al…
This paper presents the design, modeling, and experimental validation of CapsuleBot, a novel hybrid aerial-ground bi-copter robot designed for long-endurance and low-noise operations. CapsuleBot combines the maneuverability of a bi-copter in the air with the low power consumption and low noise of a
3D Visual Grounding (3DVG) faces persistent challenges due to coarse scene-level observations and logically inconsistent annotations, which introduce ambiguities that compromise data quality and hinder effective model supervision. To address these challenges, we introduce Refer-Judge, a novel framew…
Optimizing high-degree-of-freedom robotic manipulators requires searching complex, high-dimensional configuration spaces, a task that is computationally challenging for classical methods. This paper introduces a quantum-native framework that integrates Quantum Machine Learning (QML) with Grover's al
Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three independently actuated pairs of wings. Inspired by the leg mor
Under-actuated robotic grippers, regarded as critical components of robotic grasping, have attracted considerable attention. However, existing under-actuated grippers emerge with several primary issues, including low payload, insufficient force sensing, small grasping force, weak grasping stability…
Deformable organisms in nature inspire the design of shape-shifting robots, including soft robots, bionic robots and physical human-robot interfaces. However, to achieve multi-objective shape imitation and multi-form transformation, shape-shifting robots often require complex actuation systems, cont
How to estimate camera pose from motion-blurred images remains a challenge for visual odometry. The blurring artifacts are inevitably caused by the exposure during camera motion. While current visual odometry regards them as noise, we argue that it is necessary to extract potential information from
Collaboration with robots through physical contact offers a more intuitive, natural, and engaging operational experience, showcasing vast potential in the field of human-robot interaction. However, current physical interaction devices, such as collaborative robots and haptic feedback mechanisms, are…
Under-actuated robot grippers, as a pervasive tool of robots, have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making widespread applications limited. To better address relevant res…
In this letter, an aggressive quadrotor ball playing system called Bat is proposed, whose goal is to intercept a flying ball and volley it towards a designated target. Aggressive means Bat operates the quadrotor aggressively to intercept balls that are far away and hit them to distant positions in w
Kirigami structure is featured as changing its shape by deforming its gaps through buckling and torsion. However, the existing Kigrigami structures lack the ability to control the shapes of their gaps actively, which hinders their shape deformation performances. This letter proposes a novel planar p
The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor config-uration, wit…
Shape-changing robotic mannequin is a humanoid robot for imitating shapes of human bodies. The diversity of human bodies makes it difficult to imitate various body shapes, especially the shoulders. This paper proposes a rigid-flexible-soft coupling three-layered robotic mannequin shoulder inspired b
This paper introduces a novel motion planner, incrementally stochastic and accelerated gradient information mixed optimization (iSAGO), for robotic manipulators in a narrow workspace. Primarily, we propose the overall scheme of iSAGO informed by the mixed momenta for an efficient constrained optimiz