8 papers
Reconfiguration-Complete Motion Primitives with Constructive Planning for Deformable Planar Modular Robots
Jie Gu, Tingting Wang, Hongrun Gao +4
The continuously deformable geometry of modular robots makes it difficult to define a fixed representation for reconfiguration planning and analysis. This letter introduces a squar…
SANTS: A State-Adaptive Scheduler for World Action Models
Yirui Sun, Guangyu Zhuge, Keliang Liu +5
World Action Models (WAMs) improve robot manipulation by using video-based future representations to condition action generation. In pixel-space WAMs, however, the best action cond…
A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism
Chunxu Tian, Zhichao Huang, Hongzeng Li +4
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancin…
Towards Dexterous Embodied Manipulation via Deep Multi-Sensory Fusion and Sparse Expert Scaling
Yirui Sun, Guangyu Zhuge, Keliang Liu +5
Realizing dexterous embodied manipulation necessitates the deep integration of heterogeneous multimodal sensory inputs. However, current vision-centric paradigms often overlook the…
Self-Reconfiguration Planning for Deformable Quadrilateral Modular Robots
Jie Gu, Hongrun Gao, Zhihao Xia +3
For lattice modular self-reconfigurable robots (MSRRs), maintaining stable connections during reconfiguration is crucial for physical feasibility and deployability. This letter pre…
RhoMorph: Rhombus-shaped Deformable Modular Robots for Stable, Medium-Independent Reconfiguration Motion
Jie Gu, Yirui Sun, Zhihao Xia +3
In this paper, we present RhoMorph, a novel deformable planar lattice modular self-reconfigurable robot (MSRR) with a rhombus shaped module. Each module consists of a parallelogram…
UAUTrack: Towards Unified Multimodal Anti-UAV Visual Tracking
Qionglin Ren, Dawei Zhang, Chunxu Tian +1
Research in Anti-UAV (Unmanned Aerial Vehicle) tracking has explored various modalities, including RGB, TIR, and RGB-T fusion. However, a unified framework for cross-modal collabor…
MODUR: A Modular Dual-reconfigurable Robot
Jie Gu, Tin Lun Lam, Chunxu Tian +3
Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, of…