A5076885280- Robot Manipulation and Learning
- Robotic Locomotion and Control
- Soft Robotics and Applications
- Space Satellite Systems and Control
- Prosthetics and Rehabilitation Robotics
- Robotics and Sensor-Based Localization
- Modular Robots and Swarm Intelligence
- Control and Dynamics of Mobile Robots
- Teleoperation and Haptic Systems
- Astro and Planetary Science
- Fault Detection and Control Systems
- Robotic Path Planning Algorithms
- Planetary Science and Exploration
- Advanced Sensor and Energy Harvesting Materials
- Tactile and Sensory Interactions
- Image and Object Detection Techniques
- Advanced Control Systems Optimization
- Advanced Vision and Imaging
- Adaptive Control of Nonlinear Systems
- Soil Mechanics and Vehicle Dynamics
- Muscle activation and electromyography studies
- 3D Shape Modeling and Analysis
- 3D Surveying and Cultural Heritage
- Dynamics and Control of Mechanical Systems
- Advanced Image and Video Retrieval Techniques
University Town of Shenzhen
2016-2025
Tsinghua–Berkeley Shenzhen Institute
2020-2025
Tsinghua University
2015-2024
Qingdao University
2024
Toronto Metropolitan University
2022
Shanghai University
2022
Cytoskeleton (United States)
2018
Harbin Institute of Technology
2009-2017
Shenyang Institute of Automation
2017
University of Chinese Academy of Sciences
2017
Abstract Tactile sensing technology is crucial for soft grippers. Soft grippers equipped with intelligent tactile systems based on various sensors can interact safely the unstructured environments and obtain precise properties of objects (e.g., size shape). It essential to develop state‐of‐the‐art technologies handle different grasping tasks. In this review, development techniques robotic hands first introduced. Then, principles structures types normally adopted in grippers, including...
Abstract Soft robots have recently attracted increasing interest due to their advantages in durability, flexibility, and deformability, which enable them adapt unstructured environments perform various complex tasks. Perception is crucial for soft robots. To better mimic biological systems, sensors need be integrated into robotic systems obtain both proprioceptive external perception effective usage. This review summarizes the latest advancements flexible sensing feedback technologies...
The ocean environment has enormous uncertainty due to the influence of complex waves and undercurrents. human beings are limited in their abilities detect utilize marine resources without powerful tools. Soft robots employ soft materials simplify mechanical structures rigid adapt morphology environment, making them suitable for performing some challenging tasks place manual labor. Due superior flexible deformable bodies, underwater have played significant roles numerous applications recent...
Accurate object 6D pose estimation is a core task for robot bin-picking applications, especially when objects are randomly stacked with heavy occlusion. To address this problem, paper proposes simple but novel Point-wise Pose Regression Network (PPR-Net). For each point in the cloud, network regresses of instance that belongs to. We argue regressed poses points from same should be located closely space. Thus, these can clustered into different instances and their corresponding objects'...
The grasping of transparent objects is challenging but significance to robots. In this article, a visual–tactile fusion framework for object in complex backgrounds proposed, which synergizes the advantages vision and touch, greatly improves efficiency objects. First, we propose multiscene synthetic dataset named SimTrans12 K together with Gaussian-mask annotation method. Next, based on TaTa gripper, network object-grasping convolutional neural position detection, shows good performance both...
Abstract Large-size cabin assembly is a challenging and labor-intensive task, while visual pose estimation of the could enhance its efficiency precision. The existing frameworks are mainly based on ellipse detection projection calculation, leading to limitation accuracy generalization. In this paper, we introduce novel framework for tracking large-size cabins iterative optimization manipulation points reduce impact caused by 6DoF coupling, where four iteratively transform docking surface...
In a multiarm space robotic system, one or more manipulators can be used to stabilize the base through counteracting disturbance caused by other performing on-orbital tasks. However, singularities are inevitably present in traditional methods based on differential kinematics solutions. this paper, we propose singularity-free trajectory planning method simultaneously keep attitude and centroid position of stabilized inertial space; balance arms also designed. First, derive coupling motion...
Soft robots have garnered significant attention due to their adeptness in addressing challenges that traditional rigid struggle effectively manage, including adaptability unstructured environments and safe human–robot interactions. However, these modular soft always show limitations coping with application requirements the defects of building blocks, limited motion patterns, poor repetitive positioning accuracy, weak load‐bearing capacity. Herein, a parallel structure on exterior origami is...
Summary This paper proposes to design an unknown input observer (UIO) for the linear‐parameter‐varying (LPV) system on basis of set theory, which is named as set‐theoretic UIO (SUIO). The advantage SUIO consists in that it combines active and passive approaches obtain robustness state estimation (SE) fault detection (FD). approach based use decouple inputs, while theory bound uncertain factors cannot be actively decoupled. As a result, effect both inputs (process disturbances, modeling...
Transparent objects are a common part of daily life, but their unique optical properties make estimating 6D pose challenging task. In this letter, we propose TGF-Net, monocular instance-level estimation method for transparent based on geometric fusion. TGF-Net learns the edge features and surface fragments as intermediate reduces influence appearance changes by fusing rich in network. Moreover, an approach generating high-fidelity large-scale synthetic datasets using Blender use to generate...
Faced with the increasingly severe global aging population fewer children, research, development, and application of elderly-care robots are expected to provide some technical means solve problems elderly care, disability semi-disability nursing, rehabilitation. Elderly-care involve biomechanics, computer science, automatic control, ethics, other fields knowledge, which is one most challenging concerned research robotics. Unlike robots, work for frail elderly. There information exchange...
The attitude control of an underactuated reusable launch vehicle (RLV) in the reentry phase involving nonminimum problem and input constraints is investigated this article. To address problem, approach combining output redefinition robust backstepping proposed, where a synthetic constructed using combination original internal states to obtain stable zero dynamics, then performed on new output. Besides, ideal dynamics are obtained by optimal bounded inversion, which incorporated into...
Abstract Background Immune checkpoint inhibitors (ICIs), especially those targeting programmed cell death-1 (PD-1) and death ligand-1 (PD-L1), have introduced a new treatment landscape for many types of tumors. However, they only achieve limited therapeutic response. Hence, identifying patients who may benefit from ICIs is currently challenge. Methods 47 tumor harboring ARID1A mutations were retrospectively studied. The genomic profiling data through next-generation sequencing (NGS) relevant...
Four-wheel, independently driven skid-steer mobile robots have been widely used in some fields, such as indoor product shipping and outdoor inspection exploration. Traditional robot controllers often use a kinematics controller to obtain the desired speed of each wheel, complete closed-loop control wheel achieve robot’s trajectory tracking control. However, based on may lead chattering spin from being directly by motor uneven grounds. To solve these problems, we developed four-wheel, with...
The continuum robot has attracted more attention for its flexibility. Continuum kinematics models are the basis further perception, planning, and control. design research of robots usually based on assumption piecewise constant curvature (PCC). However, due to influence friction, etc., actual motion is approximate (APCC). To address this, we present a kinematic equivalent model robots, i.e. APCC 2L-5R. Using classical rigid linkages replace original in kinematic, 2L-5R effectively reduces...
Space robotic system is expected to play an increasingly important role in repairing GEO (geostationary orbit) satellites the future. To perform servicing mission, firstly required approach and dock with target autonomously, for which measurement of relative pose key. It a challenging task since existing are generally non-cooperative, i.e. no artificial mark mounted aid measurement. In this paper, method based on binocular stereo vision proposed estimate satellite final phase. directly takes...