Zhanxuan Peng — accepted AI-conference papers

2026

SuckTac: Camera-Based Tactile Sucker for Unstructured Surface Perception and Interaction

Ruiyong Yuan, Jieji Ren, Zhanxuan Peng, Qianyu Guo, Feifei Chen, Guoying Gu

ICRA 2026poster

Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, conventional suckers lack high-fidelity tactile perception, which impedes them from resolving the fine-grained geometric features and interaction status of the target surface. This …

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2025

Hybrid Tension and Configuration Control of Cable-Driven Hyper-Redundant Robots for High Accuracy and Stability

Zhenpu Zhu, Ziqing Li, Zhanxuan Peng, Chao Liu, Guoying Gu

RA-L 2025

Due to the advantages of dexterity and adaptability, cable-driven hyper-redundant robots (CDHRRs) are promising for detection in confined spaces like narrow internal cavities. However, due to redundant degrees of freedom (DoFs), CDHRRs are susceptible to the singular configuration, which aggravates

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