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...
Anti-disturbance control for longitudinal motion of distributed electric drive unmanned ground vehicle
Available online 19 February 2026
To address the issue that multi-source disturbances such as model mismatch and external environmental changes affect the speed tracking accuracy of longitudinal motion control for distributed electric...
MOSformer: Momentum encoder-based inter-slice fusion transformer for medical image segmentation
Available online 19 February 2026
Medical image segmentation takes an important position in various clinical applications. 2.5D-based segmentation models bridge the computational efficiency of 2D-based models with the spatial perception...
Underwater ecological assessment via intelligent monitoring robot based on semi-supervised semantic segmentation
Available online 19 February 2026
Efficient and accurate underwater target recognition is crucial for assessing the stability of marine ecosystems. However, traditional manual diving surveys are costly, time-consuming and limited in...
Humanoid robot running through random stepping stones and jumping over obstacles: Step adaptation using spring-mass trajectories
Available online 12 February 2026
This study proposes a step adaptation framework for running through spring-mass trajectories and deadbeat control gain libraries. It includes four main parts: (1) Automatic spring-mass trajectory library...
Design and validation of a quasi-passive knee exoskeleton with clutched elastic actuators for human walking assistance
Available online 11 February 2026
Human legs exhibit spring-like behavior during the walking stance phase, motivating the development of lightweight passive lower extremity exoskeletons with elastic energy storage. While such designs...
Validation of a thoraco-abdominal motion phantom for robotic surgery’s respiration tracking study
Available online 10 February 2026
Respiratory motion, as a dominant biological factor, imposes two primary challenges in radiotherapy: firstly, ensuring accurate spatial targeting of the tumor volume, and secondly, constraining radiation...
Human-robot collaborative navigation: An interactive information entropy minimization framework for mobile social robots
Available online 10 February 2026
The seamless integration of mobile robots into daily life hinges on addressing the challenge of human–robot interaction within dynamic environments. Existing research has extensively explored the harmonious...
DHT_xLSTM: A hybrid temporal-mapping framework for skill-oriented grasp prediction in teleoperated robots via dual-quaternion control and context-aware learning
Available online 10 February 2026
This paper presents a unified teleoperation framework for heterogeneous master–slave robotic systems, integrating geometric mapping with learning-based temporal modeling to enable skillful and adaptive...
Deep reinforcement learning-based dynamic path planning of flexible needle in robotic puncturing
Available online 6 February 2026
Flexible needle puncture path planning in surgical robots faces significant challenges, such as limited adaptability to multi-objective environments and poor real-time performance. These issues affect...
A multi - task framework based on SDA - LSTM fusion network for gait phase recognition and gait cycle percentage progression prediction by IMU for forward walking
Available online 6 February 2026
Accurate recognition of gait phases and reliable prediction of gait cycles are critical for adaptive exoskeleton control. Although these two tasks are inherently coupled in both temporal and spatial...