11 accepted papers
This letter addresses critical challenges in the dynamic modeling of biomimetic underwater robots, including heavy reliance on prior knowledge and difficulties in tracking time-varying models. To tackle these issues, we propose a control-oriented online identification framework based on the Koopman
Depth information is crucial for underwater robotic detection and navigation tasks. However, the underwater imaging environment is complex and variable. The images captured by robots are typically sequences or videos with uniform scene content, and the ground-truth of depth is difficult to obtain. T…
Human joints enable precise bending for fine manipulation and complex movements. Similarly, robotic flexibility relies on bending structures, where accurate bending perception is crucial for precise control and enhanced humanrobot interaction. This paper proposes a C-shaped fiber optic array, embedd
Human fingertips are densely distributed with sensory nerve endings, allowing them to perceive various physical characteristics, including pressure, roughness, etc. In this work, we develop a rigid-flexible coupled bionic robotic finger with perception decoupling and slip detection capabilities. Par
Depth information is crucial for underwater robotic detection and navigation tasks. However, the underwater imaging environment is complex and variable. The images captured by robots are typically sequences or videos with uniform scene content, and the ground-truth of depth is difficult to obtain. T
Tactile sensing is pivotal for enabling effective human-robot interaction, especially in unstructured environments. This work introduces an innovative bioinspired soft robotic finger endowed with shape-adaptive and multi-modal tactile perception capabilities, drawing inspiration from diverse biologi…
Central Pattern Generators (CPG) nonlinear oscillation network is being increasingly used in the control of multi-joint collaborative robots. The motion attitude of robots can be effectively adjusted by tuning parameters of the CPG neural network. However, the mapping from CPG parameters to motion a…
All-around, real-time navigation and sensing across the water environments by miniature soft robotics are promising, for their merits of small size, high agility and good compliance to the unstructured surroundings. In this paper, we propose and demonstrate a mantas-like soft aquatic robot which pro…
Functional nanomaterials possess exceptional multi-physical (e.g., mechanical, electrical and optical) properties compared with their bulk counterparts. To facilitate both synthesis and device applications of these nanomaterials, it is highly desired to characterize their multi-physical properties w…
This paper reports the electrostatic regulation of surface traction of a quadruped soft robot to improve its locomotion efficiency. The soft robot, containing five pneumatic channel networks (PneuNets) in different parts of its body, is actuated to achieve undulated locomotion. Electrostatic adhesio…
Many micromanipulation systems employ sensorless actuators and possess unknown modeling errors, feedback measurement noise, and time delays. Conventional modelbased control schemes ignore some of these characteristics, and thus sacrifice the control performance of the system. This paper presents a n