Zhong Huang — accepted AI-conference papers

2026

Whole-Body Path Following of an Active-Joint Active-Wheel Snake Robot Based on Head-Body Stepwise Control

Fuxi Wan, Xian Guo, Huawang Liu, Wei Huang, Zhong Huang

RA-L 2026

This paper presents a two-dimensional planar path-following controller for active-joint active-wheel snake-like robots. Compared to passive-wheel snake robots, active-wheel snake robots can navigate narrower spaces and generate stronger driving forces, enabling adaptation to various terrains. Howeve

Cited by 0 Source ↗Scholar ↗

2022

The Impact of Dorsal Fin Design on the Swimming Performance of a Snake-Like Robot

Zhong Huang, Shugen Ma, Hosain Bagheri, Chao Ren, Hamidreza Marvi

RA-L 2022

Lampreys’ posterior dual dorsal fins can function as a thrust booster. In addition, the fin-fin interaction of these dorsal fins enables utilization of the energy from the wake, making this species one of the most efficient swimmers. Thus, this dorsal fin configuration can serve as a great source of

Cited by 7 Source ↗Scholar ↗