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ICRA 2026

2898 papers · 2898 AI summaries · 2026

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2870 result(s) for “Actuation and Joint Mechanisms” Page 4 of 58
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Biarticular Rigid Powered Lower Extremity Exoskeleton Robot AI summary
Tianchi Chen, Zhi Liu, Chaoyang Li, Xiaoan Chen, Jianjun Hu, Jiaxun Wu, Ye He
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Robust Friction Estimation for an Active Upper-Limb Exoskeleton Via SOSML Observer AI summary
Hamidreza Heidari, Paolino De Risi, Fanny Ficuciello
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D-GVIO: A Buffer-Driven and Efficient Decentralized GNSS-Visual-Inertial State Estimator for Multi-Agent Systems AI summary
Yarong Luo, Wentao Lu, Chi Guo, Ming Li
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ActiveSPN: Active Soft Polyhedral Networks with Pose Estimation for In-Finger Object Manipulation AI summary
Sen Li, Chengxiao Dong, Chaoyang Song, Fang Wan
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Swarm-ReID: Decentralized Self-Adaptive Gallery Construction for Multi-Robot Open-World Person Re-Identification AI summary
Marios Kaplanis, Miquel Kegeleirs, Lorenzo Garattoni, Mauro Birattari, Gianpiero Francesca
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Estimation of the Caged Object's Posture under Forces Using Stepwise Geometric Calculations AI summary
Ryota Yokomura, Yutong Liu, Rui Fukui
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Flexible Trajectory Planning for Autonomous Vehicles Via Environmental Assessment in Extreme Scenarios AI summary
Xiang Li, Ke Lin, Xiaoqing Yang, Kejian Yan, Yanjie Li, Yunjiang Lou
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Platform-Agnostic Reinforcement Learning Framework for Safe Exploration of Cluttered Environments with Graph Attention AI summary
Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos
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SeaViper: An Efficient Thin 2D Surface-Swimming Soft Robot AI summary
Elias Veilleux, Hsin Cheng, Sigurd Wagner, Naveen Verma, James Sturm, Minjie Chen
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Handling Transitions across Singularities for UR-Like Serial Robots AI summary
Ivan Boschi, Alessandro De Toni, Roberto Di Leva, Edoardo Ida', Marco Carricato
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Adaptive Robust Control for Rotation Tracking of a Soft Rotary Actuator with Hysteresis Compensation AI summary
Young Min Lee, Yeoil Yun, Hyungpil Moon, Hyouk Ryeol Choi, Yong Seok Ihn, Ja Choon Koo
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Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach AI summary
Harvey Merton, Ian Hunter
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Enhancing Safety and Manipulability of Redundant Manipulators: Accelerated Motion Generation in Dynamic Environments AI summary
zongwu Xie, Mengfei Li, Wandong Sun, BAOSHI CAO, Yang Liu, Zhengpu Wang, Yiming Ji, Hong Liu, Boyu Ma, Zhihong Wu
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A Wire-Driven Robotic Hand with Mode-Switchable Planetary Transmission for Dynamic Manipulation AI summary
Jeongseok Choi, Minsu Lee, WooSeong Shin, TaeWon Seo
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A 3-Degrees-Of-Freedom Lightweight Flexible Twisted String Actuators (TSAs)-Based Exoskeleton for Wrist Rehabilitation AI summary
Mihai Dragusanu, Nicolas Guinet, Bhivraj Suthar, Tommaso Lisini Baldi, Domenico Prattichizzo, Monica Malvezzi
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Adaptive-Twist Soft Finger Mechanism for Grasping by Wrapping AI summary
Hiroki Ishikawa, Kyosuke Ishibashi, Ko Yamamoto
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Motion Pattern Analysis of a Rolling Locomotion Robot Featuring Dual Rimless Wheels and Elastic Connectors AI summary
Taiki Sedoguchi, Fumihiko Asano
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INSIGHT: INference-Time Sequence Introspection for Generating Help Triggers in Vision-Language-Action Models AI summary
Ulas Berk Karli, Ziyao Shangguan, Tesca Fitzgerald
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Feedforward Pressure-Regulated Position Control of Soft Ballooning Actuators Using a Modified Prandtl�Ishlinskii Model AI summary
Nashil Sowaruth, Nicolas Herzig
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A Dual-Adhesion-Enhanced Soft Gripper with Microwedge Adhesives and SMA-Driven Microspines AI summary
Chang Wang, Peijin Zi, Yang Luo, Bochao Song, Tao Zhang, Kun Xu, Xilun Ding
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EquiMus: Energy-Equivalent Dynamic Modeling and Simulation of Musculoskeletal Robots Driven by Linear Elastic Actuators AI summary
Yinglei Zhu, Xuguang Dong, Qiyao Wang, Qi Shao, Fugui Xie, Xin-Jun Liu, Huichan Zhao
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A Multi-Inlet Extrusion System for Closed-Loop Spatial Profile Control in Large-Format Additive Manufacturing AI summary
Angelica Coronado Preciado, Brian Parrott, Eric Feron
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Tightly Coupled Rao-Blackwellized Particle Filter for GNSS-Only Positioning in Urban Environments without Ambiguity Resolution AI summary
Daiki Niimi, An Fujino, Taro Suzuki, Junichi Meguro
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Simplified Fabrication and Open-Loop Control of an Electromagnetic Insect-Scale Terrestrial Robot AI summary
Julie Villamil, Yaochen Li, Jack Long, Michael Karpelson, E. Farrell Helbling
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CDC-SLAM: Switchable Centralized and Distributed Collaborative LiDAR SLAM Framework for Robotic Swarms AI summary
Xiangnan Liu, Xiang Huo, Haifei Zhu, Xuefeng Zhou, Yisheng Guan, Hong Zhang, Weinan Chen∗
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MonoMPC: Monocular Vision Based Navigation with Learned Collision Model and Risk-Aware Model Predictive Control AI summary
Basant Sharma, Prajyot Jadhav, Pranjal Paul, Madhava Krishna, Arun Kumar Singh
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Sampling-Aware Multi-Rate Combined Control for an Orbital Manipulator AI summary
Ria Vijayan, Marco De Stefano, Christian Ott
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Manipulator Generative Design Optimization for Orchard Environments AI summary
Marcus Rosette, Tianhai Wang, James Burridge, Wei Guo, Joseph Davidson
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Global End-Effector Pose Control of an Underactuated Aerial Manipulator via Reinforcement Learning AI summary
Shlok Deshmukh, Javier Alonso-Mora, Sihao Sun
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PIMBS: Efficient Body Schema Learning for Musculoskeletal Humanoids with Physics-Informed Neural Networks AI summary
Kento Kawaharazuka, Takahiro Hattori, Keita Yoneda, Kei Okada
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CoVAR: Co-Generation of Video and Action for Robotic Manipulation Via Multi-Modal Diffusion AI summary
Liudi Yang, Yang Bai, George Eskandar, Fengyi Shen, Mohammad Altillawi, Dong Chen, Ziyuan Liu, Abhinav Valada
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Multi-Modal Locomotion Mode Recognition in the Real World for Robotic Hip Complex Exoskeletons AI summary
Hyesoo Shin, Sangdo Kim, Sunwoo Kim, Jongwon Lee, Jinkyu Kim, KangGeon Kim
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Learning Forward Looking Adaptation to Dynamic Payloads for Quadruped Locomotion Via Physics-Informed Neural Networks AI summary
Oscar Youngquist, Hao Zhang
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FeatX: Controlled Robot Configuration with Flexible Feature Binding AI summary
Jude Gyimah, Henriette Knopp, Thorsten Berger, Patrizio Pelliccione
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GeoFIK: A Fast and Reliable Geometric Solver for the IK of the Franka Arm Based on Screw Theory Enabling Multiple Redundancy Parameters AI summary
Pablo Lopez-Custodio, Yuhe Gong, Luis Figueredo
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Neural Operators for Design-Space Surrogate Modeling of Tendon-Actuated Continuum Robots AI summary
Branden Frieden, James Ferguson, Alan Kuntz, Varun Shankar
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UDON: Uncertainty-Weighted Distributed Optimization for Multi-Robot Neural Implicit Mapping under Extreme Communication Constraints AI summary
Hongrui Zhao, Xunlan Zhou, Boris Ivanovic, Negar Mehr
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DriveAgent: Multi-Agent Structured Reasoning with LLM and Multimodal Sensor Fusion for Autonomous Driving AI summary
Xinmeng Hou, Wuqi Wang, long yang, Hao Lin, Jinglun Feng, Haigen Min, Xiangmo Zhao
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Universal Trajectory Optimization Framework for Differential Drive Robot Class AI summary
Mengke Zhang, Nanhe Chen, Hu Wang, Qiu JianXiong, Zhichao Han, Qiuyu Ren, Chao Xu, Fei Gao, Yanjun Cao
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FilMBot: A High-Speed Soft Parallel Robotic Micromanipulator AI summary
Jiangkun Yu, Houari Bettahar, Hakan Kandemir, Quan Zhou
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Hybrid Model-Learning Decoupled Control for Tendon-Driven Multi-Segment Continuum Robotic Bronchoscope AI summary
Yawen Deng, Chao Guo, Wenhao He, Gui-Bin Bian
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Cognition-Inspired Dual-Stream Semantic Enhancement for Vision-Based Dynamic Emotion Modeling AI summary
Huanzhen Wang, Ziheng Zhou, Zeng Tao, Aoxing Li, Yingkai Zhao, Yuxuan Lin, Yan Wang, Wenqiang Zhang
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Fluoroscopy-Constrained Magnetic Robot Control Via Zernike-Based Field Modeling and Nonlinear MPC AI summary
Xinhao Chen, Hongkun Yao, Anuruddha Bhattacharjee, Suraj Raval, Lamar Mair, Yancy Diaz-Mercado, Axel Krieger
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Voice-Driven Assistance and Resistance Modulation in a Soft Hip Exosuit Using a Transformer-Based Speech Recognition Model AI summary
Enrica Tricomi, Daniel Lindner, Xiaohui Zhang, Luka Miskovic, Lorenzo Masia
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Embodied Stability in a Minimally-Actuated Soft Robot for Autonomous Exploration AI summary
Lior Salem, Adam Vichik, Amir Gat, Yizhar Or
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Drifting in the Future: Stabilizing Path Following Drifting on High-Latency Vehicle Systems AI summary
Frederik Werner, Till Heintzenberg, Markus lienkamp, Johannes Betz
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PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots AI summary
Shenghai Yuan, Jason Wai Hao Yee, Weixiang Guo, Zhongyuan Liu, Thien-Minh Nguyen, Lihua Xie
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Novel Robotic Fleet for Sample Recovery in Lunar Craters: A Concept of Operations AI summary
Rishi Jangale, Derek Pravecek, Sarah Lam, David McDougall, Mauricio Trevino, Aaron Villanueva, Jonas Land, Heaven De Leon, Micah Oevermann, Robert Ambrose
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Moving On, Even When You�re Broken: Fail-Active Trajectory Generation Via Diffusion Policies Conditioned on Embodiment and Task AI summary
Gilberto Briscoe-Martinez, Yaashia Gautam, Rahul Shetty, Anuj Pasricha, Marco Nicotra, Alessandro Roncone
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Development of a Miniaturized 6-DoF Surgical Instrument with a 4-mm Elbow and 3-mm Wrist for Transoral Robotic Surgery AI summary
Cate Balasubramanian, Sunny Zhang, Teng Li, Paul Hoseok Kang, Ali A. Nazari, Thomas Looi, Dale Podolsky
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