Jian Qi

A Bio-Inspired Scalable Parallel Actuation Approach for Modular Reconfigurable Supernumerary Limbs

Supernumerary Robotic Limbs (SRLs) offer considerable promise for assisting wearers in complex tasks, yet their adaptability is often constrained by their inherent fixed morphology. While modular reconfigurable designs present a viable solution, applying it to wearable systems introduces critical si

Back from the Dead: Self-Recovery Strategy for Modular Planetary Exploration Robots (I)

Mechanism Characteristics Identification and Anti-Disturbance Control for Door-Opening Using Supernumerary Robotic Limbs

Supernumerary robotic limbs (SRLs) are wearable robots that serve as extra limbs, assisting wearers in task completion. The strong coupling between SRLs and wearers results in wearer movements influencing SRLs' actions and the forces exerted on mechanisms during operations. The wearer's movements le

ZBOT: A Novel Modular Robot Capable of Active Transformation from Snake to Bipedal Configuration through RL

In recent years, significant progress has been made in the prototype design and control methodologies of modular snake robots. However, there is still relatively little research on the potential enabled by the active morphological transformation of robots. This paper presents a novel modular snake r

Design of a Multi-Environmentally Adaptable Modular Self-Reconfigurable Robot

Modular self-reconfigurable robots (MSRRs) have significantly progressed in hardware and algorithm development. However, they are generally used in terrestrial environments, leaving broad scenarios to be explored and benefited. This letter presents a novel amphibious self-reconfigurable robot (ASRR)