Lepeng Chen

2 accepted papers

2026

Near-Field Driven Origami-Based Bio-Inspired Jellyfish Robot

Sen Wang, Chengxiang Lu, Lepeng Chen, Yi Tang, Mansen Chen, Shuai Zhang +1

ICRA 2026poster

The development of bio-inspired jellyfish robots holds significant benefits for autonomous aquatic systems due to jellyfish’s efficient water jet propulsion. However, the current design of jellyfish robots still faces challenges in balancing high biological fidelity with the demands of lightweight, …

Cited by 0 Scholar ↗

2022

CPG-based Motion Planning of Hybrid Underwater Hexapod Robot for Wall Climbing and Transition

Feiyu Ma, Weisheng Yan, Lepeng Chen, Rongxin Cui

RA-L 2022

Most of the existing underwater legged robots are capable of moving on small-angled slopes, but few of them can climb the large-angled slope or transition from one plane to another, such as transition from horizontal plane to vertical plane. In this paper, we propose a motion planning method of a hy

Cited by 19 Source ↗Scholar ↗