3 papers
eess.SY2026
DexterousMag: A Reconfigurable Electromagnetic Actuation System for Miniature Helical Robot
Jialin Lin, Dandan Zhang
Despite the promise of magnetically actuated miniature helical robots for minimally invasive interventions, state-of-the-art electromagnetic actuation systems are often space-ineff…
cs.RO2026
Design and Control of Modular Magnetic Millirobots for Multimodal Locomotion and Shape Reconfiguration
Erik Garcia Oyono, Jialin Lin, Dandan Zhang
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing…
cs.RO2025
Design and Benchmarking of A Multi-Modality Sensor for Robotic Manipulation with GAN-Based Cross-Modality Interpretation
Dandan Zhang, Wen Fan, Jialin Lin +5
In this paper, we present the design and benchmark of an innovative sensor, ViTacTip, which fulfills the demand for advanced multi-modal sensing in a compact design. A notable feat…