Yirui Sun — accepted AI-conference papers

2026

A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism

Chunxu Tian, Zhichao Huang, Hongzeng Li, Bo Wang, Jinghao Jia, Yirui Sun +1

ICRA 2026poster

This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes. Through topological and dimensional synthesis, the mechanism achi…

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2026

RhoMorph: Rhombus-Shaped Modular Robots for Stable, Medium-Independent Reconfiguration Motion

Jie Gu, Yirui Sun, Zhihao Xia, Tin Lun Lam, Chunxu Tian, Dan Zhang

ICRA 2026poster

In this paper, we present RhoMorph, a novel deformable planar lattice modular self-reconfigurable robot (MSRR) with a rhombus shaped module. Each module consists of a parallelogram skeleton with a single centrally mounted actuator that enables folding and unfolding along its diagonal. The core desig…

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