Shugen Ma

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• A Pipeline Route Drawing System Equipped With a Towed Unit Using Only Low Cost Internal Sensors
• Attention Mechanism based Pipe Recognition Network with a Hybrid Dataset
• Drag force modelling with induced surface deformation in granular media
• Optimal Path Following Control for Motion Recovery From Joint Failure of Snake Robots Using Improved Lateral Undulatory Gait
• Magnetic Wall-Climbing Wheels with Controllable Adhesion Reduction via Soft Magnetic Material
• Embodying rather than encoding: Towards developing a source-filter theory for undulation gait generation
• Modeling the Impact of Terrain Surface Deformation on Drag Force using Discrete Element Method and Empirical Formulation
• A Centimeter-Scale Inspection Robot for Locomotion in Viscous Fluids
• Adaptive Manoeuvring Control for Planar Snake Robots in Uncertain Friction Environments
• Elastic Material Selection for Omni-Wheels of Inpipe Robots with High Traction Capability
• Locomotion Analysis of a Modular Underactuated Snake-like Robot
• Motion Planning for an Underwater Swimming Manipulator Using BMA-RRT* and the Geometric Follow-the-Leader Method
• Observer-Based State Feedback Model Predictive Control Framework for Legged Robots
• PEGrip: A Plant-tendril-inspired Passive Entanglement Gripper Enabling Fail-safe Grasping
• A Lightweight Encoder with Attention Mechanism for a Pipe Recognition Network
• Enhancing undulation of soft robots in granular media: A numerical and experimental study on the effect of anisotropic scales
• LVIO-Fusion: Tightly-Coupled LiDAR-Visual-Inertial Odometry and Mapping in Degenerate Environments
• A Pipeline Route Drawing System Equipped with a Towed Unit Using Only Low Cost Internal Sensors
• Observer-based state feedback model predictive control framework for legged robots
• An Underwater Snake Robot that Does Not Consider Actuators’ Waterproof: Design and Primary Experiments
• Geometric design of a kirigami gripper with form-enclosing grasping mode
• Terramechanics Modeling of a Wheel with Active Lug for Simulations
• A decoupled Bayesian method for snake robot control in unstructured environment
• Legged Locomotion Control of an Under-actuated Eccentric Paddle Mechanism with Torso Stabilization
• Effect of underactuated parallelogram shape-shifting for environmental adaptation movement of a three modular in-pipe robot
• Anti-collision Motion Control of the Industrial Manipulator Based on 3D Point Cloud
• Research on Self-Stiffness Adjustment of Growth-Controllable Continuum Robot (GCCR) Based on Elastic Force Transmission
• Automatic T-branch Travel of an Articulated Wheeled In-pipe Inspection Robot Using Joint Angle Response to Environmental Changes
• Design and Control of BRAVER: a Bipedal Robot Actuated via Proprioceptive Electric Motors
• Efficient Motion Modes of Underwater Snake Robots with Rear Thrusters
• Practical Issues in Data-driven Model-free Adaptive Control for an Omnidirectional Mobile Manipulator
• Q-Whex: A Simple and Highly Mobile Quasi-wheeled Hexapod Robot
• Research on Billet Defect Marking Path Decision Method
• Trajectory Tracking Control of an Underwater Swimming Manipulator with System Constraints and Uncertainties
• A Frequency Attention-Based Dual-Stream Network for Image Inpainting Forensics
• Embodied Artificial Intelligence for a Symbiotic Society: A Recap of IROS 2022 in Kyoto, Japan
• Koopman Operator-based Robust Data-Driven Control for Wheeled Mobile Robots
• A decoupled Bayesian method for snake robot control in unstructured environment
• Q-Whex: A simple and highly mobile quasi-wheeled hexapod robot
• Robotics in search and rescue (SAR) operations: An ethical and Design Perspective Framework for Response Phase
• Robotics in Search and Rescue (SAR) Operations: An Ethical and Design Perspective Framework for response phase
• Trajectory Optimization Algorithm of Trajectory Rehabilitation Training Mode for Rehabilitation Robot
• A Creeping Snake-Like Robot with Partial Actuation
• A Distributed Coach-Based Reinforcement Learning Controller for Snake Robot Locomotion
• A Standards-Based Pipeline Route Drawing System Using a Towed Sensing Unit
• Conditional Disturbance Negation based Control for an Omnidirectional Mobile Robot: an Energy Perspective
• Design of a modular continuum robot with alterable compliance using tubular-actuation
• Embodying Rather Than Encoding: Undulation with Binary Input
• LNC Assisted Localization and Mapping in Pipe Environment
• Multi-Objective Geometric Optimization of a Multi-Link Manipulator Using Parameterized Design Method
• Optimal Path Following Control with Efficient Computation for Snake Robots Subject to Multiple Constraints and Unknown Frictions
• Vertical Bend and T-branch Travels of an Articulated Wheeled In-pipe Inspection Robot by Combining Its Joint Angle and Torque Controls
• An anti-drone device based on capture technology
• Automatic Feature Type Selection Network in Digital Photogrammetry of Piping
• Energy Optimization of an Underwater Swimming Manipulator with Rotary Thrusters and Rolling Joints
• Path Following Controller for Snake Robots Based on Data-driven MPC and Extended State Observer
• Active Disturbance Rejection Control of Euler-Lagrange Systems Exploiting Internal Damping
• Bidirectional Locomotion of Soft Inchworm Crawler Using Dynamic Gaits
• A Mathematical Design for a Novel Walking Support Device that Leverages Passive Dynamics and Coupling Effects
• Pipeline Route-Creating Device
• The Impact of Dorsal Fin Design on the Swimming Performance of a Snake-like Robot
• Control Technique of a V-shaped In-Pipe Robot Composed of Two Underactuated Roll-Pitch Joints
• Adaptive Model Predictive Control for an Omnidirectional Mobile Robot with Friction Compensation and Incremental Input Constraints
• Undulatory Gait Planning Method of Multi-legged Robot with Passive-spine
• Automated rust removal: rust detection and visual servo control
• Automated Rust Removal: Rust Detection and Visual Servo Control
• Automatic T-branch travel of an articulated wheeled in-pipe inspection robot using joint angle response to environmental changes
• Control technique of a V-shaped in-pipe robot composed of two underactuated roll-pitch joints
• Impact of caudal fin geometry on the swimming performance of a snake-like robot
• Impact of Caudal Fin Geometry on the Swimming Performance of a Snake-like Robot
• Koopman-operator-based robust data-driven control for wheeled mobile robots
• Optimal path following control with efficient computation for snake robots subject to multiple constraints and unknown frictions
• A Bio-inspired Continuum Robot for Out-Pipe Climbing and Confined Space Navigating
• A Joint Friction Model of Robotic Manipulator for Low-speed Motion
• An Integrated Software System Designed for Upper Limb Rehabilitation Robot
• Analysis on Ride Comfort of a Novel Eight Wheel Vehicle
• Integration Mode of Standing Balance and Trajectory Training based on Lower Limb Rehabilitation Exoskeleton
• Plate-springed Parallel Elastic Actuator for Efficient Snake Robot Movement
• Simultaneous Gait Generation and Path Tracking Control of Snake Robot Using MPC
• Towards a More Practical Data-driven Biped Walking Control
• Underactuated Picking Gripper for Grasping and Cutting Citrus
• A Decentralized Bayesian Approach for Snake Robot Control
• Modeling of Passive Dynamic Walking Behavior of the Asymmetric Spatial Rimless Wheel on Slope
• Research on Passive Energy-Regulated Bionic Shell for Lateral Fall Recovery Behavior of Large Quadruped Robots
• Design and Analysis of a Robotic Out-pipe Grinding System with Friction Actuating
• Inner pressure prediction of suction cup based on Bernoulli equation
• Trotting and Pacing Locomotion of a Position-Controlled Quadruped Robot
• A Variable Artificial Potential Field Method for Gait Generation of Quadruped Robot
• Research and Analysis of Comprehensive Optimization Method for Energy Consumption and Trajectory Error of the Leg Structure Based on Virtual Model Control
• Design of a Portable Indoor Guide Robot for Blind People
• Visualized Small-size Pipeline Model Building Using Multilink-articulated Wheeled In-pipe Inspection Robot
• A Wheeled V-shaped In-pipe Robot with Clutched Underactuated Joints
• Non-singular Terminal Sliding Mode Control of an Omnidirectional Mobile Manipulator based on Extended State Observer
• A Coach-Based Bayesian Reinforcement Learning Method for Snake Robot Control
• Bernoulli Gripper
• Generation of Efficient Rectilinear Gait Based on Dynamic Morphological Computation and Its Theoretical Analysis
• Sensor-less and Controlless Underactuated Grippers with Pull-in Mechanisms for Grasping Various Objects
• A decentralized bayesian approach for snake robot control
• Generation of efficient rectilinear gait based on dynamic morphological computation and its theoretical analysis
• Plate-springed parallel elastic actuator for efficient snake robot movement
• A Bayesian-Based Controller for Snake Robot Locomotion in Unstructured Environments
• A Multi-link In-pipe Inspection Robot Composed of Active and Passive Compliant Joints
• A Robotic Gripper Design and Integrated Solution Towards Tunnel Boring Construction Equipment
• Continuity and Smoothness Analysis and Possible Improvement of Traditional Reinforcement Learning Methods
• Design and Implementation of a Pipeline Inspection Robot with Camera Image Compensation
• Evaluation of Energy Efficiency of an Eccentric Paddle Mechanism on Sandy Terrain
• Compensated Model-free Adaptive Tracking Control Scheme for Autonomous Underwater Vehicles via Extended State Observer
• Realizing Efficient Front Crawl Stroke with a Wheel-Paddle Integrated Mechanism: Inspired by Human Competitive Swimming
• A Motion Planning Approach for Nonprehensile Manipulation and Locomotion Tasks of a Legged Robot
• A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups
• A Structure-improved Extended State Observer based Control with Application to an Omnidirectional Mobile Robot
• Adaptive Virtual Power-based Collision Detection and Isolation with Link Parameter Estimation
• Paper-Made Grippers for Soft Food Grasping
• In-pipe Travel Device
• A motion planning approach for nonprehensile manipulation and locomotion tasks of a legged robot
• Active disturbance rejection control of Euler--Lagrange systems exploiting internal damping
• A force-sensorless Approach to Collision Detection based on Virtual Powers
• A Rust Removed Region Detection for Automated Rust Detection during Grinding Work Process
• Extended State Observer based Sliding Mode Control of an Omnidirectional Mobile Robot with Friction Compensation
• Gait Analysis of the Mammal Quadruped Robot from the Perspective of Energy Efficiency
• Practical Vision-Based Walking Navigation for the Humanoid Robot NAO in the Maze-like Environment
• Shadow-based Operation Assistant for a Pipeline-inspection Robot using Variance of Pixel-number to the Luminance
• Gripping Device
• Extended State Observer based Robust Friction Compensation for Tracking Control of an Omnidirectional Mobile Robot
• A Snake-Like Robot with Envelope Wheels and Obstacle-Aided Gaits
• Omni-directional Gait of a Passive-spine Hexapod
• Passivity-based Tracking Control of an Omnidirectional Mobile Robot using only One Geometrical Parameter
• Research on Low Energy Consumption Static Postures of Bionic Feet
• An Efficient Turning Control Method Based on Coordinating Driving for an Underwater Snake-Like Robot with a Propeller
• Joint Angle Control of an 8-inch Gas Pipeline Inspection Robot to Pass through Bends
• Performance Study of an Underwater Snake-like Robot with a Flexible Caudal Fin
• Suppression of Energy Consumption for Snake Robots using Parallel Elastic Actuators during Low Speed Movement
• Extended state observer-based sliding mode control of an omnidirectional mobile robot with friction compensation
• Omni-directional gait of a passive-spine hexapod
• Realizing efficient front crawl stroke with a wheel-paddle-integrated mechanism: inspired by human competitive swimming
• An Analysis about the Problem of SLAM in Tunnel-like Environment with Serpentine Locomotion and Its Solution
• Tracking Control of Tangential Velocity of Eel Robot Based on Iterative Learning Control
• Curved Path Following Control for Planar Eel Robots
• Development of a Multilink-articulated Wheeled In-pipe Robot with Differential Mechanisms in Wheel and Link Axes
• Development of a Wheel-paddle Integrated Quadruped Robot for Rough Terrain and its Verification on Hybrid Mode
• Dynamic Planning and Control for the Environment-Aided Nonprehensile Manipulation and Locomotion of a Quadruped Robot
• Quadruped Locomotion Control Based on Two Bipeds Jointly Carrying Model
• Automated Rust Detection via Digital Image Recognition during Grinding Work Process
• Passivity-Based Active Disturbance Rejection Control of an Omnidirectional Mobile Robot
• A Novel Serpentine Gait Generation Method for Snake-like Robots Based on Geometry Mechanics
• Passivity-based Active Disturbance Rejection Control of an Omni-directional Mobile Robot
• Stiffness Design of a Resonance-based Planar Snake Robot with Parallel Elastic Actuators
• Stiffness Design of a Resonance-based Planar Snake Robot with Parallel Elastic Actuators
• A novel serpentine gait generation method for snakelike robots based on geometry mechanics
• Curved path following control for planar eel robots
• Design of a multilink-articulated wheeled pipeline inspection robot using only passive elastic joints
• Design of a Multilink-articulated Wheeled Pipeline Inspection Robot using only Passive Elastic Joints
• Development of a wheel-paddle integrated quadruped robot for rough terrain and its verification on hybrid mode
• Toward A Novel Deformable Robot Mechanism to Transition between Spherical Rolling and Quadruped Walking
• Snake-Like Robot with Fusion Gait for High Environmental Adaptability: Design, Modeling, and Experiment
• Studying Slippage on Pushing Applications with Snake Robots
• Development of an in-pipe robot with differential screw angles for curved pipes and vertical straight pipes
• Experimental Verification of the Oscillating Paddling Gait for an ePaddle-EGM Amphibious Locomotion Mechanism
• Position/force control of a holonomic-constrained mobile manipulator based on active disturbance rejection control
• Anisotropic Shadow-based Operation Assistant for a Pipeline-inspection Robot using a Single Illuminator and Camera
• One-bit Compressed Sensing Reconstruction for Block Sparse Signals
• An Energy Suboptimal Reconfiguration Planning Approach to Wheel-manipulator Robots
• Design and analysis of a transformable spherical robot for multi-mode locomotion
• Kidnapping Detection and Recognition in Previous Unknown Environment
• Mechanical Design of a Compact and Dexterous Quadruped Robot
• Modeling and Simulation of an Underwater Planar Eel Robot in Non-inertial Frame
• Stiffness Analysis and Verification of One 3 - RPS Parallel Sensor
• Generating Vectored Thrust with the Rotational Paddling Gait of an ePaddle-EGM mechanism: Modeling and Experimental Verifications
• Studying Slippage on Pushing Applications with Snake Robots
• Dynamic Modeling of Reconfigurable Robots with Independent Locomotion and Manipulation Ability
• In-pipe Travel Device
• In-pipe Travel Device
• Air-duct-cleaning Robot
• Development of a Spring-suspended Suction Cup based on Snap-through Buckling
• Development of an in-pipe robot with differential screw angles for curved pipes and vertical straight pipes
• A Wind Estimation Method for Quadrotors using Inertial Measurement Units
• Probabilistic Double Guarantee Kidnapping Detection in SLAM
• A New Method Combining KECA-LDA With ELM for Classification of Chinese Liquors Using Electronic Nose
• Design of Spring-suspended Suction Cup based on the Air Inflow Change with Inside Negative Pressure
• Force Analytic Method for Rolling Gaits of Tensegrity Robots
• Guide Rail Design for a Passive Suction Cup based Wall-Climbing Robot
• Simulate the aerodynamic olfactory effects of gas-sensitive UAVs: A numerical model and its parallel implementation
• Snake Robots in Contact with the Environment: Influence of the Configuration on the Applied Wrench
• Parameter Optimization for Rolling Motion of Structure Variable Robots
• An Efficient Reconfiguration Planning Method for Mobile Type Modular Robot
• Energy-efficient Control of a Screw-drive Pipe Robot with Consideration of Actuator's Characteristics
• Passivity-based Control of an Omnidirectional Mobile Robot
• A Bioinspired Neural Network for Data Processing in an Electronic Nose
• Analysis of the Non-reciprocating Legged Gait for a Hexapod Robot based on the ePaddle-EGM
• Design of a High-mobility Multi-terrain Robot based on Eccentric Paddle Mechanism
• Realtime Prediction of Suction Cup’s Negative Pressure Decrement without Previous Measurement of Air Inflow Speed
• Adaptive Controller Design for Underwater Snake Robot with Unmatched Uncertainties
• Design and Motion Mechanism of a Screw Drive In-pipe Robot with Adaptability to In-pipe Environment
• Axiomatic Design Method to Design a Screw Drive in-pipe Robot Passing Through Varied Curved Pipes
• Designing Arm Length of a Screw Drive In-pipe Robot for Climbing Vertically Positioned Bent Pipes
• Force analytic method for rolling gaits of tensegrity robots
• Map Segmentation for Simultaneous Localization and Mapping in Ruins
• Influence of Two SLAM Algorithms using Serpentine Locomotion in a Featureless Environment
• Optimized Non-reciprocating Tripod Gait for a Hexapod Robot with Epicyclic-gear-based Eccentric Paddle Mechanism
• Recognition of Pathway Directions based on Nonlinear Least Squares Method
• Fuzzy Theory based Control Method for an In-pipe Robot to Move in Variable Resistance Environment
• Planar Legged Walking of a Passive-spine Hexapod Robot
• Velocity Tracking Control of a Snake-like Robot Based on the Dynamics-Control Unified Model
• A Model Transformation of Map Representation for Hierarchical SLAM That Can Be Used in the After-Earthquake Buildings
• Modeling Paddle-aided Stair-climbing for a Mobile Robot based on Eccentric Paddle Mechanism
• Using a Planar Snake Robot as a Robotic Arm Taking Into Account the Lack of a Fixed Base: Feasible Region
• Continuous Robust Tracking Control for Magnetic Levitation System with Unidirectional Input
• Land Experiment System applied in Two-degree-of-freedom Mobile Robot Module
• Reduction Mechanism
• A low-CG Configuration Realization Method for Increasing the Stability of the TR-6 on a Slope
• Dynamics-control Unified Model of a Snakelike Robot based on Differential Geometry
• A Continuous Dynamic Modeling Approach for an Omnidirectional Mobile Robot
• Development of a Waterproof Servo Unit for Amphibious Robots
• In-pipe Travel Device
• Non-reciprocating Legged Gait for Robot with Epicyclic-gear-based Eccentric Paddle Mechanism
• Quantitative Study on the Attachment and Detachment of a Passive Suction Cup
• Analysis of Rectilinear Motion of a Three-segment Snake Robot Considering Coulomb's Dry Friction
• Motion Platform with Differential-type Omni-directional Mobile Wheels
• Omni-directional Automatic Guided Vehicle based on Differential Omni-directional Wheel Set
• Skid-resistant Differential Type All-dimensional Wheel
• Generalized Proportional Integral Observer based Control of an Omnidirectional Mobile Robot
• Learning to Rapidly Re-Contact the Lost Plume in Chemical Plume Tracing
• Modeling and Optimal Torque Control of a Snake-like Robot based on the Fiber Bundle Theory
• Steering for a Transformable Robot with Heterogeneous Modules in Narrow Space
• Underwater Propulsion Principle for a Non-superposition Amphibious Transformable Robot
• Modular Dynamics Modeling Approach of Group Configuration of Wheel-manipulator Robots
• Non-reciprocating legged gait for robot with epicyclic-gear-based eccentric paddle mechanism
• Quantitative study on the attachment and detachment of a passive suction cup
• Characteristics of Lug-Soil Interaction Forces Acting on a Rotating Lug in Sandy Soil
• Development of Unicorn Reel: Hermetic Traction-Controllable Cable Reel with Passive-Lever Level Winder
• Drawbar Pull of a Wheel with an Actively Actuated Lug on Sandy Terrain
• Improved Effective Design of the Eccentric Paddle Mechanism for Amphibious Robots
• Locomotion Control of a Snake-like Robot Based on Velocity Disturbance
• On Planar Grasping with Snake Robots: Form-closure with Enveloping Grasps
• Speed Analysis for Three Driving Modules of an In-pipe Inspection Robots for Passing through Bent Pipes
• Stability Analysis and Gait Planning of a Quadruped Robot based on the Eccentric Paddle Mechanism
• An HCCPG Model-based 3D Gait Control of a Snake-like Robot
• Characteristics of Normal and Tangential Forces acting on a Single Lug during Translational Motion in Sandy Soil
• A Double Guarantee Kidnapping Detection in Simultaneous Localization and Mapping
• Control Strategies of Energy Optimization for an In-pipe Robot with Inclining-Angle-Adjustable Screw Rollers
• Influences of Lug Motion on Lug-soil Reaction Forces in Sandy Soil
• A Simplified CPGs Network with Phase Oscillator Model for Locomotion Control of a Snake-like Robot
• Design and Strength Analysis of the Differential Omnidirectional Wheel
• Dynamic Simulation for 6-strut Tensegrity Robots
• Gripping device
• Snake-like robot with uneven ground suitability
• Snakelike robot with creeping and swinging function
• Snakelike robot with uneven ground suitability
• Snakelike robot with uneven ground suitability
• Experimental Study on the Oscillating Paddling Gait of an ePaddle Mechanism with Flexible Configuration
• A Continuous Dynamic Model for an Omnidirectional Mobile Robot
• An In-Pipe Robot with Underactuated Parallelogram Crawler Modules
• Composite configuration amphibious robot based on epicyclic gear trains and provided with wheel paddle legs
• Electronic Nose with a New Feature Reduction Method and a Multi-linear Classifier for Chinese Liquor Classification
• In-pipe Travel Device
• Take-up Device
• The study of snake robots biomimetic control method with the environments adaptability
• Snake robot with ability to adapt to uneven ground
• Smooth Transition for CPG-based Body Shape Control of a Snake-like robot
• A simplified CPGs network with phase oscillator model for locomotion control of a snake-like robot
• Drawbar pull of a wheel with an actively actuated lug on sandy terrain
• Design and Locomotion Simulation of an Improved Eccentric Paddle Mechanism for Amphibious Robots
• Design of an Underactuated Parallelogram Crawler Module for an In-pipe Robot
• Different-Level Simultaneous Minimization of Joint-Velocity and Joint-Torque for Redundant Robot Manipulators
• Efficiency Analysis of Epicyclic Gear Mechanism of the Improved ePaddle Mechanism via Virtual Power
• Method to Seek the Deformed Shape and to Find the Rolling Direction of Tensegrity Robots
• Predictive Kinematic Control of an Omnidirectional Mobile Robot
• Simultaneous Localization and Mapping based on Morphological Characteristics of the Seismic Damage of the Interior Ruins
• Six-rod Self-adaptive Tracked Robot
• Study on Air Inflow of a Passive Suction Cup
• Dynamic Modeling and Analysis of an Omnidirectional Mobile Robot
• Neurally Controlled Steering for Collision-free Behavior of a Snake Robot
• Simultaneous Localization and Mapping Based on the Hybrid Metric-Topological Map in the Ruins Environment
• A Hierarchical Connectionist CPG Model for Controlling the 3-dimensional Gaits of the Snake-like Robots
• Analysis and Control of an Omnidirectional Mobile Robot
• Development of a Screw Drive In-pipe Robot for Passing through Bent and Branch Pipes
• Research on obstacle-negotiation performance of a reconfigurable wheel-manipulator robot based on screw's dynamics formulation
• A Simplified CPGs Network with Phase Oscillator Model for Locomotion Control of a Snake-like Robot
• A Data Association Approach based on Multi-rules in VorSLAM
• A Versatile Locomotion Mechanism for Amphibious Robots: Eccentric Paddle Mechanism
• Development of a Suction Cup with a Disc Spring
• Modeling of the Oscillating-paddling Gait for an ePaddle Locomotion Mechanism
• Improvement of a Screw Drive In-pipe Robot with Pathway Selection Mechanism to Pass Through T-branches
• Wheel - track - leg composite mobile robot
• Towards Stable and Efficient Legged Race-walking of an ePaddle-based Robot
• A versatile locomotion mechanism for amphibious robots: eccentric paddle mechanism
• Neurally controlled steering for collision-free behavior of a snake robot
• Self-adaptable Biomimetic Control Strategy for Snake Robots Based on Neural Stepping Stimulation Mechanism
• A Simplified CPGs Network with Phase Oscillator Model for Locomotion Control of Snake-like Robot
• An Omnidirectional Mobile Robot: Concept and Analysis
• Development of an Underactuated Robot Gripper Capable of Retracting Motion
• Experimental Study on Oscillating Paddling Gait of an Eccentric Paddle Mechanism
• Underwater Object Detection and Localization Based on Multi-Beam Sonar Image Processing
• A Hierarchical Connectionist CPG Controller for Controlling the Snake-like Robot's 3-dimensional Gaits
• A Multi-legged Robot with Less Actuators by Applying Passive Body Segment Joint
• Modeling the Rotational Paddling of an ePaddle-Based Amphibious Robot
• Data Association for a Hybrid Metric Map Representation
• Mechanism-parameters Design Method of an Amphibious Transformable Robot Based on Multi-objective Genetic Algorithm
• Planning of Legged Racewalking Gait for an ePaddle-based Amphibious Robot
• Development of an Omni-directional wheel with differential structure
• Pathway Selection Mechanism of a Screw Drive In-pipe Robot in T-branches
• A new hybrid metric map representation by using Voronoi diagram and its application to SLAM
• Development of an Amphibious Snake-like Robot and its Gaits on Ground and in Water
• A Dynamic Shape-shifting Method for a Transformable Tracked Robot
• Kinematics Study on an Omnidirectional Mobile Robot with MY Wheels
• Stiffness Design of Springs for a Screw Drive In-pipe Robot to Pass through Curved Pipes and Vertical Straight Pipes
• Online Stair-Climbing Control Based On the Combined Motion Planning of a Transformable Tracked Robot
• A Wall-Climbing Robot without any Active Suction Mechanisms
• An Omnidirectional Mobile Robot
• Experimental Verification of Analytical Torques Enabling a Screw Drive In-pipe Robot to Pass through Bent Pipes
• A Self-Tuning Multi-Phase CPG Enabling the Snake Robot to Adapt to Environments
• Simultaneous Localization and Mapping through a Voronoi-Diagram based Map Representation
• Development of a Modular Crawler for Tracked Robots
• Development of a Sensor-driven Snake-like Robot SR-I
• Decoupled Kinematic Control of Terrestrial Locomotion for an Epaddle-Based Reconfigurable Amphibious Robot
• Gait Generation and Analysis for Snake-like Robots
• Sensor-Driven Neural Controller for Self-Adaptive Collision-Free Behavior of a Snake-Like Robot
• Simulation and Experimental Study of an Energy-based Control Method for the Serpentine Locomotion of a Snake-like Robot
• A SLAM Algorithm in Complex Environments: SLASEM
• Analysis of the Constraint Relation between Ground and Self-adaptive Mobile Mechanism of a Transformable Wheel-track Robot
• Analysis of the Constraint Relation between Ground and Self-adaptive Mobile Mechanism of a Transformable Wheel-track Robot
• Data Association Using General Distance in SLASEM
• Development of a Transformable Wheel-track Robot with Self-adaptive Ability
• A Unified Dynamic Model for Locomotion and Manipulation of a Snake-like Robot based on Differential Geometry
• A Unified Dynamic Model for Locomotion and Manipulation of a Snake-like Robot based on Differential Geometry
• An Omnidirectional Mobile Robot
• A Dynamic Shape-shifting Method for a Transformable Tracked Robot
• A Hybrid Environment Adaptation Controller for a Snake-like Robot with Online and Autonomous Learning Ability
• Design of a Wall-Climbing Robot with Passive Suction Cups
• Development of a Pipe Cleaning Robot for Air Conditioning System
• Enumeration of the non-isomorphic configurations for a reconfigurable modular robot with square-cubic-cell modules
• Kinematic Analysis of Snake-like Robot Using Sliding Joints
• Mobility of an In-pipe Robot with Screw Drive Mechanism inside Curved Pipes
• Motion Planning of a Snake-like Robot Based on Artificial Potential Method
• Research of a Quadruped Robot Walking on a Slope Based on 4-Leg Supporting Period
• Simultaneous Localization and Sampled Environment Mapping based on a Divide-and-Conquer Ideology
• Screw Drive In-Pipe Robot with Axial and Circum-directional Inspection Ability
• Analysis to Serpentine Locomotion Efficiency of Snake-like Robot
• Design and Basic Experiments of a Transformable Wheel-Track Robot with Self-adaptive Mobile Mechanism
• Self-Rescue Mechanism for Screw Drive In-pipe Robots
• Stability and Adaptability of Passive Creeping of a Snake-like Robot
• Kinematics Analysis of a Transformable Wheel-Track Robot with Self-adaptive Mobile Mechanism
• Cooperative Reconfiguration between Two Specific Configurations for a Shape-shifting Robot
• A Cubic CPG Model for Snake-like Robot to Adapt to Environment
• Amphibious snake-like robot
• VorSLAM: A New Solution to Simultaneous Localization and Mapping
• Method of Kinematic Modeling of Wheeled Mobile Robot
• Adaptive Creeping Locomotion of a CPG-controlled Snake-like Robot to Environment Change
• Controllable Postures of a Dual-crawler-driven Robot
• CPG-based Control of Serpentine Locomotion of a Snake-like Robot
• CPG-controlled Asymmetric Locomotion of a Snake-like Robot for Obstacle Avoidance
• Simultaneous Localization and Sampled Environment Mapping
• Pipeline moving mechanism
• Impact Analysis of a Dual-crawler-driven Robot
• Parametric Analysis for Mobile Mechanism of a Transformable Wheel-track Robot
• Controllable Postures of a Dual-crawler-driven Robot
• A Kinematic Modeling Method for a Wheeled Mobile Robot
• AMOEBA-I: A Shape-Shifting Modular Robot for Urban Search and Rescue
• A Modular Universal Unit for a Snake-like Robot and Reconfigurable Robots
• An Amphibious Snake-like Robot: Design and Motion Experiments on Ground and in Water
• Development of a Three Dimensional Snake-like Robot Perambulator II
• Network-based reconfiguration routes for a self-reconfigurable robot
• Posture Control of a Dual-crawler-driven Robot
• Sealing mechanism for mobile joint in water
• Self-adapting pipe moving mechanism
• Configuration representation and reconfiguration optimization for the reconfigurable robots with independent manipulation
• Reconfiguration of a Group of Wheel-manipulator Robots based on MSV and CSM
• Impact Absorption of a Dual-crawler-driven Robot
• Serpentine Locomotion of a Snake-like Robot in Water Environment
• Reconfiguration of a group of wheel-manipulator robots based on msv and csm
• Reconfigurable Modular Universal Unit (MUU) for Mobile Robots
• Cooperative Negotiation and Control Strategy of a Shape-shifting Robot
• Network-based reconfiguration routes for a self-reconfigurable robot
• Multifunctional Mobile Units with a Same Platform for In-Pipe Inspection Robots
• Locomotion Control and Gaits' Modality of a 3D Snake-like Robot
• Passive Periodic Motions of Multi-Joint Robots by Stiffness Adaptation and DFC for Energy Saving
• Analysis of Helical Gait of Snake-like robots
• Improving Consistency of EKF-based SLAM algorithms by using accurate linear approximation
• Posture Analysis of a Dual-crawler-driven Robot
• Development of novel robotized rock abrasion tool
• Design of a Mobile Mechanism Possessing Driving Ability and Detecting Function for In-Pipe Inspection
• Development of a Shape-shifting Mobile Robot for Urban Search and Rescue
• Gaits-Transferable CPG Controller for a Snake-like Robot
• A Relative Map Filter Using Linear Invariant Measurements
• Current research, key performances and future development of search and rescue robots
• Design and modeling of a snake robot in traveling wave locomotion
• Kinematic Analysis on a Mobile Robot Composed of Three Wheeled Units
• Kinematics analysis of a robotic rock grinder
• A Gait-Transmission CPG Controller for a Snake-like Robot
• An In-pipe Inspection Robot based on Adaptive Mobile Mechanism: Mechanical Design and Basic Experiments
• Configuration of Reconfigurable Modular Planetary Robots based on State Configuration Vector and State Configuration Matrix
• CPG-based Control of a Simulated Snake-like Robot Adaptable to Changing Ground Friction
• Autonomous Control of A Shape-shifting Robot in Urban Terrain
• CPG-based Adaptable Control of a Snake-like Robot
• Development of a 3D Snake-like Robot Perambulator-II: Design and Basic Experiments
• Development of an Adaptive Mobile Robot for In-Pipe Inspection Task
• Two-dimensional PSD based automatic docking of self-reconfiguration modular exploration robot system
• Two-freedom degree rock grinding mechanism
• A Center-configuration Selection Technique for the Reconfigurable Modular Robot
• Development of a Novel Crawler Mechanism with Polymorphic Locomotion
• 3D Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model
• Design and modelling of a snake robot in traveling wave locomotion
• Three-freedom rock lapping mechanism
• Two-freedom rock lapping mechanism
• Design of a cyclic inhibitory CPG controller for the locomotion of a snakelike robot
• Quasi-static Analysis for the Motion of a Novel Crawler-driven Robot
• Control Architecture and implementation of modularized control system for RPRS
• Kinematics Analysis of a Six-Wheeled Mobile Robot
• AMOEBA-I: An Improved Link-type Shape Shifting Modular Robot for Search and Rescue Operation
• Analysis of Tipover Stability for Novel Shape-Shifting Modular Robot
• System Design and Kinematic Analysis to Motion Control for RPRS
• Twist-related locomotion of a snake-like robot
• Communication Mechanism of a Planetary Exploration Multi-Robot System
• Snake-like Robot Controller with Cyclic Inhibitory CPG Model
• Influence of Gradient of a Slope to Optimal Locomotion Curves of a Snake-like Robot
• Omnidirectional Static Walking of a Quadruped Robot on a Slope
• Omnidirectional Static Walking of a Quadruped Robot with COG-Correspondentn Optimal Body Postures on a Slope
• Analysis of Creeping Locomotion of a Snake-like Robot on a Slope
• Motion Planning for a Reconfigurable Robot to Cross over Obstacles
• Representing and Enumerating of the Non-Isomorphic Configurations of the Reconfiguration Modular Robot
• Serpentine Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model
• Mechanical Design of a Reconfigurable Planary Rover
• Dynamic Analysis and Control of a New Reconfigurable Robot
• Dynamics Analysis on Serpentine Locomotion of a New Snake-like Robot
• Transmutation Mechanisms and its Realization of a Chain-type Reconfigurable Modular Robot
• Serpentine Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model
• Serpentine Locomotion of a Snake-like Robot Controlled by Musical Theory
• Design of a Snake-like Robot Controller With Cyclic Inhibitory CPG Model
• Development of a Novel Crawler For Irregular Terrain Access
• Development of a Shape Shifting Robot for Search and Rescue
• Optimization of CPG-Network for Decentralized Control of a Snake-like Robot
• Step-Climbing Analysis of a Novel Tracked Robot
• Bionic Research on Concertina Motion of a Snake-like Robot
• Design and Implementation of a Reconfigurable Planetary Robot Control System
• Intelligent Mobile Manipulator Navigation Using Adaptive Neuro-Fuzzy Systems
• Omni-directional Static Walking of a Quadruped Robot
• OpenGL Based Experimental Platform for Simulation of Reconfigurable Planetary Robot System
• Space Docking for Reconfigurable Planetary Robot System
• Analysis of snake-like robot's head raising motion
• Ground characteristics detecting device used for snake shaped robot
• Snake shaped robot possessing ground adaptability
• Wheel hand integrated mobile operation arrangement
• Omnidirectional static walking of a quadruped robot
• Task Planning and Behavior Scheduling for a Reconfigurable Planetary Robot System
• Analysis of Traveling Wave Locomotion of Snake Robot
• Development of an OpenGL Based Multi-robot Simulating Platform
• Locomotion Control of a Snake-like Robot with Omnidirectional Mechanisms
• Position-Sensing Based Docking System of RPRS
• Development of a Snake-like Robot with 3D Mobility
• Study on Turning and Sidewise Motion of a Snake-like Robot
• GPS-based Navigation Algorithm of Snake-like Robots
• Locomotion Control of a Novel Snake-like Robot
• Shape Control of Hyper-Redundant Modularized Manipulator Using Variable Structure Regular Polygon
• Development of a Sensor for Automatic Detection of Downey Mildew Disease
• Ground property tester for snake shape robot
• Mechanical design and dynamic analysis of planetary rover
• Omni-directional Walking of a Quadruped Robot on a Slope
• A Kinetostatic Index to Measure the Task-Executing Ability of Robotic Manipulators with Limit-driven Characteristics of Actuators
• Minimum Time Path-tracking Control of Redundant Manipulators
• Path Planning of a Snake-like Robot Based on Serpenoid Curve and Genetic Algorithms
• Dynamic Analysis of a 3-dimensional Snake Robot
• Neural Oscillator Network-Based Controller for Meandering Locomotion of Snake Like Robots
• Robust Neuro-Fuzzy Navigation of Mobile Manipulator among Dynamic Obstacles
• Turning and side motion of snake-like robot
• Dynamic Control of Curve-constrained Hyper-Redundant Manipulators
• Intelligent Motion Control of Autonomous Mobile Manipulator among Dynamic Obstacles
• Acquisition of Global Information from Local Observation with Movement --- Construction of Internal State-Representation under Partial Observabability ---
• Ground Condition Sensing of a Snake-like Robot
• Influence of Inclining Angle of a Slope to Optimal Locomotion Curves of a Snake-like Robot
• Analysis of Creeping Locomotion of a Snake Robot on a Slope
• Control of a 3-Dimensional Snake-like Robot
• Design and Control of a 3-Dimensional Snake-like Robot
• Coupled-drive-based Joint Design of a Snake Robot and its Body-lifting Method
• Studies on Rolling Locomotion and Crossing over Obstacles of a Snake-robot
• Study of Lateral Locomotion of a Snake Robot
• Development of the Master Control System of a Hardware Independent Architecture for CNC Machine Tools
• Development of a Creeping Locomotion Snake-Robot
• Time Optimal Control of Kinematically Redundant Manipulators with Limit Heat Characteristics of Actuators
• Development of a Multijoint Manipulator: Moray Arm
• Realization of the Windows-Based Multi-Threads CNC System
• Internet-Enhanced Automation in Micro Environment
• Obstacle Avoidance Control of Moray-type Robot Arm
• All-directional Walking of a Quadruped Robot based on Crawl and Rotation Gaits
• Time Optimal Control of Manipulators with Limit Heat Characteristics of Actuator
• Control of a multijoint manipulator\" Moray arm\"
• Coupled-Actuation Modular Universal Unit (MUU) of Snake-like Robot
• Development of a Creeping Snake-Robot
• Dynamic Control of Curve-constrained Hyper-Redundant Manipulators
• Minimum-time Control of Coupled Tendon-driven Manipulators
• Analysis of Creeping Locomotion of a Snake-like Robot
• Kinematic/Static Dexterity Measure of Manipulators with Limit-driven Characteristics of Motor
• Analysis of Creeping Locomotion of a Snake-like Robot
• Development of Force-feedback Controlled Nafion Micromanipulators
• Minimum-time Control of Coupled Tendon-driven Manipulators
• Development of a Creeping Locomotion Snake-like Robot
• Time-optimal Control of a Moray-type Robot Arm with Consideration of Actuator's Actuation Characteristics
• Real-time Time-optimal Control of Manipulators based on Gravity Center Motion
• Dexterity Measure of Manipulators with Limit-driven Characteristics of Motor
• An Obstacle Avoidance Control Scheme for the ``Moray Arm'' on Basis of Posture Space Analysis
• Time Optimal Control of Manipulators with Limit Heat Characteristics of Actuators
• Analysis of Snake Movement Forms for Realization of Snake-like Robots
• Simulation of Snake-like Robot Creeping Locomotion Adapted to Environment
• Development of a Multijoint Robot Arm --- Time-Optimal of Moray Arm with Bounded Joint Torques ---
• Analysis of Snake Movement Forms --- Report 2: Comparison of the locomotive efficiencies for various movement forms of snake creep locomotion
• A Posture-Space-Based Obstacle Avoidance Scheme for Hyper-redundant Manipulators
• Analysis of Creeping Locomotion of Snake-like Robots
• Local Torque Minimization of Redundant Manipulators with Considering End-Motion Joint Velocities
• Optimal Arm Posture Control and Tendon Traction Forces of a Coupled Tendon-Driven Manipulator
• Singularity-Consistent Dynamic Path Tracking Under Torque Limits
• A New Formulation Technique for Local Torque Optimization of Redundant Manipulators
• Efficient Redundancy Control of Redundant Manipulators
• A Dynamic Approach to Realtime Obstacle Avoidance Control of Redundant Manipulators
• 2 DOF Moray Drive for Multijoint Manipulators
• Local Torque Minimization for Redundant Manipulators: A Correct Formulation
• A Balancing Technique to Stabilize Local Torque Optimization Solution of Redundant Manipulators
• Dynamic Redundancy Resolution of Redundant Manipulators with Local Optimization of a Kinematic Criterion
• A new formulation technique for local torque optimization of redundant manipulators
• Analysis of Snake Movement Forms --- Report 1: Standard creep movement forms of snake
• Dynamic Control Approaches for a Coupled Tendon-Driven Manipulator
• Real-Time Dynamic Redundancy Control of Redundant Manipulators
• Development of a Hyper-redundant Multijoint Manipulator for Maintenance of Nuclear Reactors
• Dynamic Redundancy Resolution of Redundant Manipulators with Local Optimization of a Kinematic Criterion
• Local Torque Optimization of Redundant Manipulators in Torque-Based Formulation
• Multi-Agent Supporting System (MASS): Control with Centralized Estimator of Disturbance
• Development of a Super-redundant Multijoint Manipulator for Maintenance of Nuclear Reactors
• A Dynamic Approach to Real-time Obstacle Avoidance Control of Redundant Manipulators
• Design and Experiments for a Coupled Tendon-driven Manipulator
• Design and experiments for a coupled tendon-driven manipulator
• 2-DOF Moray Drive for Super-Redundant Manipulators
• CT ARM-I: Coupled Tendon-driven Multijoint Manipulator Model I; --- Design and Basic Experiments ---
• Moray Drive for Multijoint Manipulator
• Coupled Tendon-driven Multijoint Manipulator
• Improving Local Torque Optimization Techniques for Redundant Robotic Mechanisms
• Improving local torque optimization techniques for redundant robotic mechanisms
• Recent Trends in the Research and Development about Robot Vision
• Development of Tendon Driven Multijoint Manipulator Based on Coupled Drive
• Moray Drive for Multijoint Manipulator
• Redundancy Decomposition Control for Multijoint Manipulator
• Redundancy Decomposition Control for Multijoint Manipulators
• Control of Redundant Manipulators