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...
Image segmentation network for laparoscopic surgery
September 2025
Surgical image segmentation serves as the foundation for laparoscopic surgical navigation technology. The indistinct local features of biological tissues in laparoscopic image pose challenges for image...
An improved path planning and tracking control method for planetary exploration rovers with traversable tolerance
June 2025
In order to ensure the safety and efficiency of planetary exploration rovers, path planning and tracking control of a planetary rover are expected to consider factors such as complex 3D terrain features,...
A fast registration method for multi-view point clouds with low overlap in robotic measurement
June 2025
With the rapid advancement of mechanical automation and intelligent processing technology, accurately measuring the surfaces of complex parts has emerged as a significant research challenge. Robotic...
Review of bioinspired aquatic jumping robots
June 2025
In natural, aquatic and amphibians creatures have evolved exceptional impulsive-based, momentum-based, and mixed water–air cross domain locomotion capabilities through long-term natural selection, providing...
A hybrid artificial bee colony algorithm with genetic augmented exploration mechanism toward safe and smooth path planning for mobile robot
June 2025
Path planning is important for mobile robot to ensure safe and efficient navigation. This paper proposes a hybrid artificial bee colony with genetic augmented exploration mechanism (HABC-GA) that enables...
A survey of autonomous robots and multi-robot navigation: Perception, planning and collaboration
June 2025
The development of autonomous robots and the wide range of communication resources hold significant potential for enhancing multi-robot collaboration and its applications. Over the past decades, there...