Zihan Oliver Zeng — accepted AI-conference papers

2026

VSL-Skin: Individually Addressable Phase-Change Voxel Skin for Variable-Stiffness and Virtual Joints Bridging Soft and Rigid Robots

Zihan Oliver Zeng, Jiajun An, Preston Luk, Upinder Kaur

ICRA 2026poster

Soft robots exhibit compliance but lack load support and pose retention, while rigid robots provide structural capacity but sacrifice adaptability. Existing variable-stiffness approaches operate at segment or patch scales, preventing precise spatial control over stiffness distribution and virtual jo…

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2025

Bio-Inspired Soft Variable-Stiffness Prehensile Tail Enabling Versatile Grasping and Enhancing Dynamic Mobility

Jiajun An, Huayu Zhang, Shengzhi Wang, Zelin Li, Han Lin, Zihan Oliver Zeng +5

RA-L 2025

In nature, prehensile tails serve as versatile and essential appendages for animals, facilitating both grasping and enhanced mobility. Although existing robotic tails effectively contribute to mobility across a range of behaviors, they lack versatile object-grasping capabilities. Inspired by these b

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