Xianrui Zhang — accepted AI-conference papers

2026

Koopman-Based Online Identification With Sim2Real Transfer for Hydrodynamic Modeling of Turtle Inspired Robot

Ang Liu, Xianrui Zhang, Fengqi Xiao, Guangming Cui, Baijin Mao, Yunjie Yang +1

RA-L 2026

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

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2024

CFD-enabled Approach for Optimizing CPG Control Network for Underwater Soft Robotic Fish

Yunfei Wang, Weiyuan Sun, Wei Tang, Xianrui Zhang, Zhenping Yu, Shunxiang Cao +1

IROS 2024poster

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…

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