HDCAR: A 3D-2D registration network for abdominal aortic vessels based on CTA vessel models and DSA images
March 2026
Multimodal image registration is a crucial prerequisite for the automation and intelligence of interventional surgical medical robots. In endovascular aneurysm repair, due to limitations in imaging...
Large language model-based task planning for service robots: A review
March 2026
With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments....
Enhanced reasoning and task planning for surgical autonomy using multi-modal large language models with gradual learning
March 2026
Large language models (LLMs) have been widely adopted in robotic applications in recent years, but their ability in task planning of long-horizon and complex tasks remains a challenge. In this work,...
A feedforward tendon-elongation compensator for tendon-sheath mechanisms with arbitrary and time-varying transmission routes in three-dimensional space
March 2026
Tendon-sheath mechanisms (TSMs) are widely used for position transmission in robotic systems that require compactness and adaptability to complex environments. However, friction-induced tendon-elongation...
YOLO-FOA: A lightweight rotational target detection algorithm based on improved YOLO for optical fiber robot
March 2026
In fiber optic communication, as networks expand, precise detection and alignment of fiber optic adapters are crucial for enhancing system stability and transmission quality. Traditional target detection...
End-to-end replay-based trajectory planning for autonomous vehicles under multi-weather scenarios
March 2026
Autonomous driving systems face challenges from perception degradation and kinematic coupling in adverse weather. This paper introduces an end-to-end trajectory prediction framework integrating multi-weather...
Optimization-based automated generation of 1-DOF multi-section continuum robots with predefined end-effector poses
March 2026
Continuum robots have been widely utilized in various fields, such as medical surgery, industrial manufacturing, and aerospace, due to their flexibility and compliance. However, their high structural...
Design and testing of an orthopedic robot for deformity correction
March 2026
Deformity correction has positive significance for limb function reconstruction. To reduce the workload of the physicians and enhance the intelligence level of deformity correction, a wearable orthopedic...
A vision-based humanoid compliant skill transfer framework: Application to robotic cutting tasks
March 2026
Autonomously completing a contact-rich task for multiple manipulation objects remains a challenging problem for robots. To achieve this goal, learning from demonstration has emerged as an efficient...
Improved PRM algorithm based on dynamic partitioning and adaptive sampling
March 2026
The Probabilistic Roadmap (PRM) algorithm has been widely employed in robotic manipulator path planning tasks due to its rapid exploration capabilities, particularly in high-dimensional configuration...
Investigation of efficient creeping locomotion for snake-like robots with compliant passive joints
March 2026
Snake-like robots leverage their slender bodies to navigate confined spaces by coordinating the multiple actuated joints, which enable effective movement through constrained pathways. However, their...
A bio-inspired intestine robot utilizing soft origami Kresling structures to imitate peristaltic wave motion and transport
March 2026
This paper presents a single-drive bio-inspired intestine robot that leverages the coupled rotational-contraction dynamics of Kresling origami structures and unidirectional valves to replicate intestinal...
Trajectory tracking and jumping control of quadruped via phase-aware iLQR controller
March 2026
Jumping is a critical capability for quadruped robots, especially for navigating obstacles and gaps in complex environments. For successful jump, accurate trajectory tracking and robust feedback mechanism...
Robust visual semantic perception for flexible grinding of complex welds
March 2026
Semantic segmentation methods based on RGB images exhibit notable limitations in complex industrial scenarios, particularly in addressing interference factors such as dynamic lighting variations and...
From knowing to doing: Learning diverse motor skills through instruction learning
March 2026
Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation...
A hip exoskeleton applied to lateral resistance walk exercise for hip adductor and abductor strengthening
Available online 12 March 2026
Lateral resistance walk exercise (LRWE) has been widely used in fitness and rehabilitation training. Current popular method for LRWE is lateral band walks (LBW) which the training intensity cannot be...
Task prioritized inverse kinematics for robot manipulators: Weighted clamping approach with modified Newton Raphson algorithm
Available online 10 March 2026
This paper presents a novel real-time robust inverse kinematics (IK) algorithm for robot manipulators using a modified Newton Raphson (MNR) method. The modification of the conventional NR algorithm...
Learning from Yangtze Alligators: A framework for agile and ecologically interactive spine-legged robots
Available online 10 March 2026
A central challenge in bio-robotics is to create machines that can integrate into and illuminate natural ecosystems. The Chinese Yangtze Alligator—a critically endangered species exhibiting exceptionally...
CLTP: Contrastive Language-Tactile Pre-training for 3D contact geometry understanding
Available online 10 March 2026
Recent advancements in integrating tactile sensing with vision-language models (VLMs) have demonstrated remarkable potential for robotic multimodal perception. However, existing tactile descriptions...
Autonomous tracking control of eagle-scale flapping wing flying robots in confined space based on periodic motion equivalence
Available online 10 March 2026
Eagle-scale flapping-wing flying robots (FWFRs) hold significant application value in fields such as resource exploration and counter-terrorism operations. However, when performing low-altitude detection...
Integrated tip tracking and whole-body collision avoidance for multi-segment continuum robots based on real-time shape reconstruction
Available online 9 March 2026
Continuum robots have found widespread applications in clinical surgery, benefiting from their high flexibility and compliance. However, their inherent compact design and passive compliance present...
A reconfigurable Fin-Ray gripper with integrated Fiber Bragg Gratings for intrinsic force sensing
Available online 7 March 2026
Balancing adaptability and precise force sensing in robotic grippers presents a significant design challenge. To address this, we present a reconfigurable flexible gripper whose Fin-Ray structured fingers...
SMART-PIPEBOT: A soft pipe-climbing robot with woodpecker tail-inspired support mechanism for single-sidewall adhesion
Available online 6 March 2026
Soft crawling robots have attracted substantial attention for their environmental adaptability and compliant locomotion. However, the scalability of many soft in-pipe robots to large diameters remains...
Impact of the pectoral fin geometry on the gliding performance of flying fish robot
Available online 5 March 2026
Flying fish, as a quintessential cross-medium species, are well known for their exceptional underwater swimming and water–air transition capabilities. However, their aerial gliding kinematics—particularly...
High-fidelity marker-level 3D deformation simulation of visuotactile sensors
Available online 3 March 2026
The visuotactile simulation is significant for robot learning towards contact-rich manipulation tasks. However, tactile simulation is still a challenging problem in most robot simulators. In this paper,...