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,...
Safe expeditious whole-body control of mobile manipulators for collision avoidance
Available online 2 March 2026
Whole-body reactive obstacle avoidance for mobile manipulators (MM) remains an open research problem. Control Barrier Functions (CBF), combined with Quadratic Programming (QP), have become a popular...
MCVP: Multi-channel viewpoint planner for efficient exploration and mapping of complex 3D environments
Available online 26 February 2026
Autonomous exploration in complex 3D environments is a key issue in robotics, where current approaches often demonstrate limited efficiency and excessive path backtracking. To mitigate backtracking...
Enhancing stability and reliability in LLM-driven robotic manipulation through human skill demonstration and visual tracking
Available online 26 February 2026
Large Language Models (LLMs) have not only propelled advancements in natural language processing but also found increasingly extensive applications in robotics. However, due to insufficient integration...
Fast deployable robust control for structured offshore aquaculture platforms inspection with adaptive disturbance compensator
Available online 26 February 2026
Autonomous remotely operated vehicles (ROVs) have recently emerged as a promising solution for inspecting offshore aquaculture platforms (OAPs), including truss-structured net cages and aquaculture...
Human gait-inspired knee exoskeleton for adaptive passive weight-support: Design and preliminary experimental evaluation
Available online 26 February 2026
Reducing knee joint load is a well-established approach in the conservative management of knee osteoarthritis (KOA), and the use of joint-unloading exoskeletons offers a promising means to achieve this...
HAPNet: Toward superior RGB-thermal scene parsing via hybrid, asymmetric, and progressive heterogeneous feature fusion
Available online 26 February 2026
Data-fusion networks have shown significant promise for RGB-thermal scene parsing. However, the majority of existing studies have relied on symmetric duplex encoders for heterogeneous feature extraction...
EMG-Based prosthetics control using NeuroAttend-EMG: A Deep Learning Approach with Explainable AI (XAI) on Edge Devices
Available online 26 February 2026
With an increased frequency of accidents and birth defects issues, such as congenital amputation, the need for improved prosthetic devices increases. In this work, we present a rigid prosthetic system...
GraspLite-Net: A lightweight deep learning method for real-time robotic grasp stability prediction
Available online 25 February 2026
With the rapid advancement of tactile sensing technologies, real-time prediction of robotic grasp stability has become increasingly critical for ensuring safe and reliable operation in automated industrial...
FineSegNeRF: Semantic NeRF for fine semantic segmentation
Available online 24 February 2026
Semantic segmentation is a crucial technology for intelligent vehicles, enabling robust scene understanding in complex driving environments. However, existing methods often struggle with small, distant,...
Optimization-based shape design of soft-rigid hybrid fingers for adaptive parallel robotic gripper
Available online 23 February 2026
Parallel robotic gripper is an efficient tool for grasping and manipulating objects in industrial applications. In recent years, to enable adaptive grasping of objects with complex shapes, many parallel...
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...