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cs.RO2026
Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback
Litian Liang, Jingxi Xu, Xinda Qi +7
For robots to work safely in household environments, they need to be compliant and react to torque and force feedback during contact. However, the majority of existing data collect…
cs.RO2026
Dynamic Modeling and Robust Gait Optimization of a Compliant Worm Robot
Xinyu Zhou, Yu Mei, Faith Thomson +3
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, ho…
cs.RO2026
A Novel Modular Cable-Driven Soft Robotic Arm with Multi-Segment Reconfigurability
Moeen Ul Islam, Cheng Ouyang, Xinda Qi +3
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent…