21 accepted papers
Soft continuum robots, attributable to inherently compliant trunks and shape manipulability, have been widely deployed in complex scenarios requiring safe human-robot interaction. However, their nonlinear deformations and hyperredundant degrees of freedom pose substantial challenges for full-body sh…
Controlling symmetric objects is an indispensable but challenging task in robotic manipulation. Mainstream perception-action frameworks rely on accurate 6D pose estimation to guide the controller. However, the majority of existing 6D pose estimation methods for symmetric objects are designed to outp…
Inspired by biological tentacles, soft continuum robots exhibit the potential for navigating through narrow spaces and operating in complex environments, offering extensive application possibilities. However, owing to their inherent compliance, soft continuum robots may undergo unpredictable deforma
Nowadays, laparoscopic surgery procedures face a trade-off between expensive, complex robotic systems and manual instruments with limited functionality. Fully robotic solutions offer precision but lack portability and intuitive control, while manual tools rely solely on the surgeon’s dexterity, limi
Knot tying is an essential task for robotic surgery, which is routinely realized by dual-arm robotic manipulation. Despite the well-established protocol and progress at macro scale so far, there remain challenges to further advance robotic knot tying technique, particularly in terms of decreasing sp…
Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However, designed based on unsuitable scene representations, existing methods show unrealistic reconstruction results or the in…
Magnetic continuum robots are subject to external magnetic fields and deformed remotely, simplifying the robot’s transmission mechanism and providing it with significant potential for miniaturization and operational flexibility. However, modeling magnetic field distribution generated by permanent ma
The pursuit of 3D reconstruction from 2D images for nanomanipulation under scanning electron microscopy stands as a critical research endeavor. Previous methods either necessitates additional lighting which is difficult in standard SEM devices or relies on feature matching with low resolution and pr…
Non-contact particle cluster manipulation holds significant promise in the realms of advanced manufacturing, chemistry, and pharmacy. However, achieving precise and dynamic control over the spatial kinematics of particle clusters remains a significant challenge, necessitating real-time and accuratel
Lungdiseases are becoming one of the world's most serious health issues. Soft bronchoscope robots can achieve safe and controllable lung navigation, which will be crucial for the future early examination of lung diseases. However, due to the single driving method, the large size, and insufficient fl
X-ray to CT registration is an essential technique to provide on-site guidance for clinicians and medical robots by aligning preoperative information with intraoperative images. Current methods focus on local registration with small capture ranges and necessitate a manual initial alignment before pr…
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning tasks. In this paper, we propose an efficient multi-solution s…
With the increasing computing power, using data-driven approaches to co-design a robot's morphology and controller has become a promising way. However, most existing data-driven methods require training the controller for each morphology to calculate fitness, which is time-consuming. In contrast, th…
Presents corrections to the declaration of equal contribution that was missed in the above named paper.
Simultaneous assembly of multiple objects is a key technology to form solid connections among objects to get compact structures in precision assembly and micro-assembly. Dramatically different from traditional assembly of two objects, the interaction among multiple objects is more complicated on ana…
Bionic robot inspired by creatures in nature attracts attention from researchers due to its effective locomotion mode and high environment adaptability. Despite the recent achievements in bionic research and robotics, the bionic robots are almost simple morphology imitation. While the imitation of f
Coupling the endface of an optical fiber to an integrated optical component is currently a low-throughput and costly manual process in the fabrication of the optical devices. In order to meet the high-volume demand for commercial optoelectronic devices, coupling must be automated. This paper present…
Untethered microrobot has been regarded as one of the most powerful tools for performing specific in vitro/vivo tasks, especially magnetic actuated microrobot owing to its biocompatible energy source. However, although numerous design and fabrication technologies of magnetic microrobot have been dev
Copper microwire is an essential metal widely used in micro-electron mechanical systems. Since micro/nano material usually demonstrates unique mechanical properties due to scaling effect, copper microwire mechanical properties need to be investigated for better adhibition. Herein, we propose a nanor…
The helical microstructure has been regarded as one of the essential geometrical shapes widely utilized in microelectromechanical systems (MEMS) and lab on chip systems. Different manufacture methods for helical microstructures attracted the researchers' attention due to their respective advantages.
Scanning electron microscope (SEM) has been widely used for characterization and manipulation in micro/nano field. However, existing SEMs can only provide images for samples from one single direction. This limitation sometimes would lead to misleading results. In order to provide multidirectional SE…