7 accepted papers
Robotic graspers are essential for enhancing the efficiency and versatility of robots in grasping tasks. In this paper, we propose a novel inflatable deployable origami grasper with a rigid-flexible coupling structure. The proposed grasper can achieve multiple deployment configurations under a singl
Automatic code summarization aims to generate concise natural language descriptions (summary) for source code, which can free software developers from the heavy burden of manual commenting and software maintenance. Existing methods focus on learning a direct mapping from pure code to summaries, over…
The seahorse's tail is renowned for its exceptional bending ability and strength owing to its unique biological structures. Inspired by this, this letter presents a novel modular cable-driven continuum robot with remarkable load capacity. By employing an asymmetric structure with both flexible and r
Code generation aims to generate code in a general-purpose programming language, such as C++, based on natural language intents. Existing efforts primarily focus on relatively simple programming problems and fail to evaluate the thought process involved in complex programming scenarios. In this pape…
Inspired by Yoshimura origami, this study presents a novel deployable modular continuum robot that achieves configuration maintenance by utilizing active cables and passive elastic deformation of kirigami-origami. In this study, the synchronous motion of each module is improved by using slider-crank
This study proposes a soft gripper driven by a simple, lightweight, low-cost, self-sensing super-coiled polymer (SCP) actuator with a high power-to-weight ratio. SCP generates an untwisting motion when heated, and therefore, is suitable for designing the actuator. The actuator is fabricated with a m
Proprioception is the ability to perceive environmental stimulations through internal sensory organs. Enabling proprioception is critical for robots to be aware of the environmental interactions and respond appropriately, particularly for high-payload grippers to ensure safety when handling delicate