Xinyang Fan — accepted AI-conference papers

2025

A Hybrid Motion Optimization Framework for the Humanoid Upper-Body Robot: Safe and Dexterous Object Carrying

Zhaoyang Chen, Kang Min, Xinyang Fan, Fenglei Ni, Hong Liu

RA-L 2025

In this letter, a novel hybrid motion optimization framework is proposed for a humanoid upper-body robot with two 7-DOF arms and a 2-DOF waist, to flexibly and safely carry objects in constrained and dynamic environments. The framework consists of <bold xmlns:mml="http://www.w3.org/1998/Math/MathML"

Cited by 1 Source ↗Scholar ↗

2023

A Multi-Configuration Track-Legged Humanoid Robot for Dexterous Manipulation and High Mobility: Design and Development

Xin Shu, Fenglei Ni, Xinyang Fan, Changyuan Liu, Shuai Yang, Baoxu Tu +1

RA-L 2023

Various applications (e.g., disaster response) put forward higher requirements for the capabilities of robots. However, to date, few platforms can be compatible with the required mobility, stability and dexterity. A major challenge is mobile stability may severely limit the variety of manipulation s

Cited by 7 Source ↗Scholar ↗