Results 21 to 30 of about 143 (132)

Stable Imitation of Multigait and Bipedal Motions for Quadrupedal Robots Over Uneven Terrains

Advanced Robotics Research, EarlyView.
How are quadrupedal robots empowered to execute complex navigation tasks, including multigait and bipedal motions? Challenges in stability and real‐world adaptation persist, especially with uneven terrains and disturbances. This article presents an imitation learning framework that enhances adaptability and robustness by incorporating long short‐term ...
Erdong Xiao, Yinzhao Dong, Ji Ma, Peng Lu   +3 more
wiley   +1 more source

Gait Analysis of Pak Biawak: A Necrobot Lizard Built using the Skeleton of an Asian Water Monitor (Varanus Salvator)

Advanced Robotics Research, EarlyView.
Pak Biawak, a necrobot, embodies an unusual fusion of biology and robotics. Designed to repurpose natural structures after death, it challenges conventional boundaries between nature and engineering. Its movements are precise yet unsettling, raising questions about sustainability, ethics, and the untapped potential of biointegrated machines.
Leo Foulds, Donan Satria Yudha, Parvez Alam   +2 more
wiley   +1 more source

ChicGrasp: Imitation‐Learning‐Based Customized Dual‐Jaw Gripper Control for Manipulation of Delicate, Irregular Bio‐Products

Advanced Robotics Research, EarlyView.
Automated poultry processing lines still rely on humans to lift slippery, easily bruised carcasses onto a shackle conveyor. Deformability, anatomical variance, and hygiene rules make conventional suction and scripted motions unreliable. We present ChicGrasp, an end‐to‐end hardware‐software co‐designed imitation learning framework, to offer a ...
Amirreza Davar, Zhengtong Xu, Siavash Mahmoudi, Pouya Sohrabipour, Chaitanya Pallerla, Yu She, Wan Shou, Philip Glen Crandall, Dongyi Wang   +8 more
wiley   +1 more source

Compliant Pneumatic Feet with Real‐Time Stiffness Adaptation for Humanoid Locomotion

Advanced Robotics Research, EarlyView.
A compliant pneumatic foot with real‐time variable stiffness enables humanoid robots to adapt to changing terrains. Using onboard vision and pressure control, the foot modulates stiffness within each gait cycle, reducing impact forces and improving balance. The design, cast in soft silicone with embedded air chambers and Kevlar wrapping, offers durable,
Irene Frizza, Hiroshi Kaminaga, Philippe Fraisse, Gentiane Venture   +3 more
wiley   +1 more source

Solid Harmonic Wavelet Bispectrum for Image Analysis

Advanced Science, EarlyView.
The Solid Harmonic Wavelet Bispectrum (SHWB), a rotation‐ and translation‐invariant descriptor that captures higher‐order (phase) correlations in signals, is introduced. Combining wavelet scattering, bispectral analysis, and group theory, SHWB achieves interpretable, data‐efficient representations and demonstrates competitive performance across texture,
Alex Brown, Mathilda Avirett‐Mackenzie, Carolin Villforth, Georgios Exarchakis   +3 more
wiley   +1 more source

Hierarchical Artificial Muscle with Nonlinear Elasticity for Antagonistic and Cyclic Robotics

Advanced Science, EarlyView.
We construct hierarchical muscles by plying nylon fibers around a heating wire. The hierarchical muscle shows a J‐shaped passive curve, which shows benefit in antagonistic muscle pair and work accumulation mechanism. We also develop a computational, first‐principle model to understand the physics of both active actuation stroke and passive J‐curve ...
Samuel Tsai, Liuyang Cheng, Ali Albazroun, Qiong Wang, Jeongmin Kim, Arman Tekinalp, Soonwook Kim, Charlie Simcox, Ryne Downing, Vagish Sivaramakrishnan, Grace Carsello, Miles Bimrose, Wonsik Eom, William P. King, Mattia Gazzola, Sameh Tawfick   +15 more
wiley   +1 more source

Random Time‐Space Coding Metasurfaces for Spatial Control of the Temporal Statistics of Electromagnetic Fields

Advanced Science, EarlyView.
A probabilistic framework based on random time‐space coding metasurfaces enables control of the spatial distribution of electromagnetic fields temporal statistics. By tailoring the marginal and joint distributions of random codes, electromagnetic fields with desired mean and variance patterns are realized, enabling simultaneous transmission and jamming.
Jia Cheng Li, Jiang Han Bao, Che Liu, Tie Jun Cui   +3 more
wiley   +1 more source

Cross‐Modal Denoising and Integration of Spatial Multi‐Omics Data with CANDIES

Advanced Science, EarlyView.
In this paper, we introduce CANDIES, which leverages a conditional diffusion model and contrastive learning to effectively denoise and integrate spatial multi‐omics data. We conduct extensive evaluations on diverse synthetic and real datasets, CANDIES shows superior performance on various downstream tasks, including denoising, spatial domain ...
Ye Liu, Wanpeng Zou, Yuekai Li, Jiayi Wang, Mingxuan Cai, Hongmin Cai   +5 more
wiley   +1 more source

MGDP: Mastering a Generalized Depth Perception Model for Quadruped Locomotion

Advanced Science, EarlyView.
ABSTRACT Perception‐based Deep Reinforcement Learning (DRL) controllers demonstrate impressive performance on challenging terrains. However, existing controllers still face core limitations, struggling to achieve both terrain generality and platform transferability, and are constrained by high computational overhead and sensitivity to sensor noise.
Yinzhao Dong, Ji Ma, Yidan Lu, Jiahui Zhang, Wanyue Li, Yeke Chen, Teng Zhang, Xuechao Chen, Zhangguo Yu, Peng Lu   +9 more
wiley   +1 more source

PAIR: Reconstructing Single‐Cell Open‐Chromatin Landscapes for Transcription Factor Regulome Mapping

Advanced Science, EarlyView.
scATAC‐seq analysis is often constrained by limited sequencing depth, extreme sparsity, and pervasive technical missingness. PAIR is a probabilistic framework that restores scATAC‐seq accessibility profiles by directly modeling the native cell–peak bipartite structure of chromatin accessibility.
Yanchi Su, Qi Qi, Yi Fan, Yubo Wang, Gaoyang Hao, Ka‐Chun Wong, Yunhe Wang, Xiangtao Li   +7 more
wiley   +1 more source