A5021779972- Soft Robotics and Applications
- Surgical Simulation and Training
- Biomimetic flight and propulsion mechanisms
- Underwater Vehicles and Communication Systems
- Iterative Learning Control Systems
- Robotics and Sensor-Based Localization
- Advanced Materials and Mechanics
- Piezoelectric Actuators and Control
- Micro and Nano Robotics
- Control Systems in Engineering
- Advanced Sensor and Energy Harvesting Materials
- Advanced Control Systems Optimization
- Anatomy and Medical Technology
City University of Hong Kong
2022-2024
Shenzhen Academy of Robotics
2024
University of Science and Technology of China
2017-2022
This research investigates learning-based control of continuum robots in constrained environments without relying on analytical models. We propose a data-efficient stochastic strategy incorporating online model updates to achieve precise manipulation even when arbitrary robot deformations occur due environmental interactions. A localized Gaussian process regression approach accounting for state stochasticity is first presented approximate the forward kinematics. The learned enables...
In existing surgery process, surgeons need to manually adjust the laparoscopes provide a better field of view (FOV) during operation, which may distract and slow down process. Herein, data‐driven control method that uses continuum laparoscope FOV by tracking surgical instruments is presented. A Koopman‐based system identification first applied linearize nonlinear system. Shifted Chebyshev polynomials are used construct observation functions transfer low‐dimension observations high‐dimension...
In order to avoid the reciprocating reversal of motor in propulsion mechanism leading lower electric drive efficiency, and realize various functions caudal fins. This article presents a novel caudal-fin with 2-DOF for bionic robotic fish. The fish based on could achieve straight swimming, flexible turning, floating diving movement without other auxiliary devices. Firstly, design will be mentioned detail. Then, kinematics principle control strategies are established base motion simulation....
Artificial muscle has been more and widely used in the field of bionic robots because its better flexibility, lightness, etc. Shape memory alloy (SMA) wires are as driving materials for artificial muscles rather than other smart due to their similar mechanical behaviors skeletal capabilities high power weight ratio. However, further applications limited low contractive strain compared with human or animal muscles. This paper presented a new enhanced module based on decussate weaving SMA soft...
In existing surgery process, surgeons need to manually adjust the laparoscopes provide a better field of view during operation, which may distract and slow down process. This paper presents data-driven control method that uses continuum laparoscope by tracking surgical instruments. A Koopman-based system identification is firstly applied linearize nonlinear system. Shifted Chebyshev polynomials are used construct observation functions transfer low-dimension observations high-dimension ones....