Acoustic-enhanced local bearing estimation using low-cost microphones for Micro Air Vehicle swarms
December 2025
Micro Air Vehicle (MAV) swarms are often constrained by limited onboard processing capabilities and payload capacity, restricting the use of sophisticated localization systems. Lightweight ultra-wideband...
A novel underactuated exoskeleton rehabilitation glove for hand flexion and extension training
December 2025
In recent years, the number of stroke patients worldwide has been steadily increasing, with approximately 70% of survivors experiencing upper limb dysfunction, particularly severe impairment of fine...
Efficient co-adaptation of humanoid robot design and locomotion control using surrogate-guided optimization
December 2025
Recent advancements in reinforcement learning (RL) and computational resources have demonstrated the efficacy of data-driven methodologies for robotic locomotion control and physical design optimization,...
Communication-aided multi-UAV collision detection and avoidance based on two-stage curriculum reinforcement learning
December 2025
Currently, multi-UAV collision detection and avoidance is facing many challenges, such as navigating in cluttered environments with dynamic obstacles while equipped with low-cost perception devices...
Humanoid dexterous hands from structure to gesture semantics for enhanced human–robot interaction: A review
December 2025
As human–robot interaction (HRI) technology advances, dexterous robotic hands are playing a dual role—serving both as tools for manipulation and as channels for non-verbal communication. While much...
An adaptive compensation strategy for sensors based on the degree of degradation
December 2025
Simultaneous Localization and Mapping (SLAM) is widely used to solve the localization problem of unmanned devices such as robots. However, in degraded environments, the accuracy of SLAM is greatly reduced...
Design and dynamics modeling of a hybrid drive bionic robotic fish
December 2025
While recent advancements in hybrid propulsion systems for bionic robotic fish—combining biomimetic mechanisms with classical vector thrusters—demonstrate enhanced locomotion capabilities and application...
Construction and control of bio-syncretic robots actuated by living materials
December 2025
Bio-syncretic robots represent a novel class of robots that integrate biological and artificial materials. These robots combine the high energy efficiency and environmental adaptability of biological...
Tracking control for Pneumatic muscle actuators with unknown dynamics and output constraints
December 2025
Among the various soft actuators explored for robotic applications, the pneumatic muscle actuators (PMAs) stand out because of many advantages, such as compliant structures, high power-to-weight/volume...
Tendon friction compensation and slack avoidance for trajectory tracking control of the tendon-driven medical continuum manipulator
December 2025
Tendon-driven continuum manipulators can perform tasks in confined environments due to their flexibility and curvilinearity, especially in minimally invasive surgeries. However, the friction along tendons...
Joint moment estimation for hip exoskeleton control: A generalized moment feature generation method
December 2025
Hip joint moments during walking are the key foundation for hip exoskeleton assistance control. Most recent studies have shown estimating hip joint moments instantaneously offers a lot of advantages...
Automated tumor localization via synergistic liver surface and vascular constraints deformation
December 2025
Open tumor resection is one of the most commonly used treatments for malignant liver tumors. The ability to accurately locate the liver tumor during the operation is the key to the success of the operation....
Beyond performance: Explaining generalisation failures of Robotic Foundation Models in industrial simulation
December 2025
This study investigates the generalisation and explainability challenges of Robotic Foundation Models (RFMs) in industrial applications, using Octo as a representative case study. Motivated by the scarcity...
View planning for visual detection coverage tasks of large airplane upper surface using UAVs
September 2025
In order to enhance the efficiency of visual inspection and effectively carry out 3D visual coverage tasks, this paper focuses on the 3D view planning problem concerning the visual coverage of an airplane’s...
Automatic analysis of alarm embedded with large language model in police robot
September 2025
Police robots are used to assist police officers in performing tasks in complex environments, so as to improve the efficiency of law enforcement, ensure the safety of police officers and maintain social...
Hierarchical reinforcement learning for enhancing stability and adaptability of hexapod robots in complex terrains
September 2025
In the field of hexapod robot control, the application of central pattern generators (CPG) and deep reinforcement learning (DRL) is becoming increasingly common. Compared to traditional control methods...
A novel magnetoelastic torque sensor with planar spiral coil probes for humanoid robot joints
September 2025
Humanoid robot joints require real-time torque detection to provide accurate force feedback information for the control system. To meet the measurement requirements and realize the miniaturization of...
Exoskeletons in the context of soldiers: Current status and future research trends
September 2025
Modern military drills and conventional training, performed under all-weather conditions, impose exacting challenges on soldiers. This has motivated the development of exoskeleton robot systems, leveraging...
Literature survey on machine learning techniques for enhancing accuracy of myoelectric hand gesture recognition in real-world prosthetic hand control
September 2025
The human hand, essential for performing daily tasks and facilitating social interaction, is indispensable to everyday life. Millions worldwide experience varying levels of amputation, profoundly affecting...
Wheeled-legged robots for multi-terrain locomotion in plateau environments
September 2025
Wheeled-legged robots integrate the mobility efficiency of wheeled platforms with the terrain adaptability of legged robots, making them ideal for complex, unstructured environments. However, balancing...
Kirigami analogies for parallelogram-based remote-center-of-motion mechanisms
September 2025
This paper presents a framework for applying origami-kirigami techniques to design kirigami analogies for remote center-of-motion (RCM) mechanisms, specifically targeting minimally invasive keyhole...
Genetic Informed Trees (GIT*): Path planning via reinforced genetic programming heuristics
September 2025
Optimal path planning involves finding a feasible state sequence between a start and a goal that optimizes an objective. This process relies on heuristic functions to guide the search direction. While...
Novel 3D instrument navigation in intracranial vascular surgery with multi-source image fusion and self-calibration
September 2025
In cerebrovascular interventional surgery, spatial position prediction navigation (SPPN) provides 3D spatial information of the vascular lumen, reducing the spatial dimension loss from digital subtraction...
Soft objects grasping evaluation using a novel VCFN-YOLOv8 framework
September 2025
Humans can quickly perform adaptive grasping of soft objects by using visual perception and judgment of the grasping angle, which helps prevent the objects from sliding or deforming excessively. However,...
Snake-inspired trajectory planning and control for confined pipeline inspection with hyper-redundant manipulators
September 2025
The hyper-redundant manipulator (HRM) can explore narrow and curved pipelines by leveraging its high flexibility and redundancy. However, planning collision-free motion trajectories for HRMs in confined...