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...
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...
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...
Robust visual semantic perception for flexible grinding of complex welds
Available online 29 January 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...
Multimodal wearable sensors-driven KsFormer model for continuous multi-step ahead prediction of lower limb joint moments and ground reaction forces
Available online 29 January 2026
Accurate real-time prediction of lower limb biomechanics is critical for enhancing assistive robotic control systems. While machine learning approaches have emerged as computationally efficient alternatives...
From knowing to doing: Learning diverse motor skills through instruction learning
Available online 29 January 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...
Coupled dynamic modeling, identification and experimental validation of a hydraulically driven soft robotic arm
Available online 29 January 2026
Unlocking the high-performance potential of Hydraulically-Driven Soft Robotic Arms (HDSRAs) requires computationally tractable dynamic models that are both physically faithful and rigorously validated,...
Trajectory tracking and jumping control of quadruped via phase-aware iLQR controller
Available online 27 January 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...
A bio-inspired intestine robot utilizing soft origami Kresling structures to imitate peristaltic wave motion and transport
Available online 24 January 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...
Robotic fish with tunable stiffness soft tail based on bionic spinal muscle system
Available online 23 January 2026
Changes in muscle state in vertebrates directly influence their movement properties, offering inspiration for research on bionic robotic fish. This paper presents an untethered robotic fish equipped...
Design and testing of an orthopedic robot for deformity correction
Available online 16 January 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...
YOLO-FOA: A lightweight rotational target detection algorithm based on improved YOLO for optical fiber robot
Available online 14 January 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...
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...