Publications
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FingerViP: learning real-world dexterous manipulation with fingertip visual perception
Conference on Robot Learning (CoRL)
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Error shifting-based fuzzy event-triggered control for switched interconnected nonlinear full-state constrained systems
IEEE Transactions on Automation Science and Engineering, doi: 10.1109/tase.2026.3733719
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Intraoperative mandibular registration techniques - comparative case studies and clinical recommendations
International Conference for Biomedical Robotics and Biomechatronics (BioRob), doi: 10.1109/biorob66782.2026.11681818
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Propeller-assisted robust 3D hopping robot with hierarchical force allocation
IEEE International Conference on Automation Science and Engineering (CASE)
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Actuation-constrained control framework for optimal microswarm navigation with swarm stability guarantee
The International Journal of Robotics Research, doi: 10.1177/02783649261462583
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Surg-NAT+: negation-aware vision–language refinement for fine-grained surgical understanding
International Journal of Computer Assisted Radiology and Surgery, doi: 10.1007/s11548-026-03722-z
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Shared object manipulation with a team of collaborative quadrupeds
American Control Conference (ACC)
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Hierarchical deformation planning and neural tracking for DLOs in constrained environments
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2026.3688805
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Enhanced freehand 3D ultrasound imaging with fusion of white-light and ultrasound imaging
The 18th Hamlyn Symposium on Medical Robotics, doi: 10.31256/hsmr26.32
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Towards autonomous mouth retraction with precise deformation regularization for oral and maxillofacial surgery
The 18th Hamlyn Symposium on Medical Robotics, doi: 10.31256/hsmr26.66
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Stiffness modeling and experiments on a low-tension, fully actuated, cable-driven manipulator with a stiffness regulator module
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2026.3670275
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Generative 3D state estimation for DLOs from partial observations
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2025.3632605
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Appending propellers to leg for enhancing robustness of hopping locomotion
28th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), doi: 10.1007/978-3-032-09051-5_15
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Vibration-based energy metric for restoring needle alignment in autonomous robotic ultrasound
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), doi: 10.1109/iros60139.2025.11245883
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A spatial position-based visual servoing obstacle-avoidable shape control framework for an 11-DOF hybrid continuum robot
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), doi: 10.1109/iros60139.2025.11246968
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Systems and methods for organ retraction and space opening
US Patent, US 12,426,867 B2
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A vibration-compensated continuum manipulator drill system for orthopaedic surgery
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2025.3589968
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A bioinspired approach to bipedal running control: incorporating appendage inertia and lower leg stiffness
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2025.3592076
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Surgical embodied intelligence for generalized task autonomy in laparoscopic robot-assisted surgery
Science Robotics, doi: 10.1126/scirobotics.adt3093
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Manipulating elasto-plastic objects with 3D occupancy and learning-based predictive control
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2025.3575308
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OMEGA: open-source and multi-mode hopping platform for educational and groundwork aims
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2025.3549661
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Leader-following consensus of multiple rigid body systems by bounded attitude feedback
IEEE Transactions on Control of Network Systems, doi: 10.1109/tcns.2025.3549094
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VibNet: vibration-boosted needle detection in ultrasound images
IEEE Transactions on Medical Imaging, doi: 10.1109/tmi.2025.3545434
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Decentralized Type-2 fuzzy event-triggered control for nonlinear switched interconnected systems with actuator and sensor faults
IEEE Transactions on Fuzzy Systems, doi: 10.1109/tfuzz.2025.3527001
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SIGMA: a minimalistic 3D hopping robot with parallel 3-RSR mechanism for safeguarding humanitarian demining
IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), doi: 10.1109/ssrr62954.2024.10770024
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Needle segmentation using GAN: restoring thin instrument visibility in robotic ultrasound
IEEE Transactions on Instrumentation and Measurement, doi: 10.1109/tim.2024.3451569
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A CT-guided control framework of a robotic flexible endoscope for the diagnosis of the maxillary sinusitis
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), doi: 10.1109/iros58592.2024.10802259
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Enhanced aerial reorientation performance using a 3-DoF morphable inertial tail inspired by kangaroo rats
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2024.3448134
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Morphable inertial appendage, systems and associated methods
US Patent, US 12,064,869 B2
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Bootstrapping robotic skill learning with intuitive teleoperation: initial feasibility study
18th International Symposium on Experimental Robotics (ISER), doi: 10.1007/978-3-031-63596-0_5
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Homotopic path set planning for robot manipulation and navigation
Robotics: Science and Systems (RSS), doi: 10.15607/rss.2024.xx.039
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World models for general surgical grasping
Robotics: Science and Systems (RSS), doi: 10.15607/rss.2024.xx.041
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A sliding cone control method for robust robot running
American Control Conference (ACC), doi: 10.23919/acc60939.2024.10644967
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From behavior to bio-inspiration: aerial reorientation and multi-plane stability in kangaroo rats, computational models, and robots
Integrative and Comparative Biology, doi: 10.1093/icb/icae079
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Design, optimization, and experimental validation of a handheld nonconstant-curvature hybrid-structure robotic instrument for maxillary sinus surgery
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2024.3402445
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A minimal set of parameters based depth-dependent distortion model and its calibration method for stereo vision systems
IEEE Transactions on Instrumentation and Measurement, doi: 10.1109/tim.2024.3406802
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Interactive navigation in environments with traversable obstacles using large language and vision-language models
IEEE International Conference on Robotics and Automation (ICRA), doi: 10.1109/icra57147.2024.10610751
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Learning-based MPC with safety filter for constrained deformable linear object manipulation
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2024.3362643
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Legged robot running on rough terrains based on norm regulation of spring-loaded inverted pendulum model
IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), doi: 10.1109/humanoids57100.2023.10375173
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Deformable object manipulation with constraints using path set planning and tracking
IEEE Transactions on Robotics, doi: 10.1109/tro.2023.3306618
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Combining tail and reaction wheel for underactuated spatial reorientation in robot falling with quadratic programming
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2023.3322079
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A shared-control dexterous robotic system for assisting transoral mandibular fracture reduction: development and cadaver study
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), doi: 10.1109/iros55552.2023.10342097
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End-to-end learning of deep visuomotor policy for needle picking
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), doi: 10.1109/iros55552.2023.10342194
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Model-free large-scale cloth spreading with mobile manipulation: initial feasibility study
IEEE International Conference on Automation Science and Engineering (CASE), doi: 10.1109/case56687.2023.10260538
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Articulating surgical device
US Patent Application, US 2023/0248417 A1, pending
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Design and experimental validation of a novel hybrid continuum robot with enhanced dexterity and manipulability in confined space
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2023.3276076
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Towards exact interaction force control for underactuated quadrupedal systems with orthogonal projection and quadratic programming
IEEE International Conference on Robotics and Automation (ICRA), doi: 10.1109/icra48891.2023.10160835
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Towards safe landing of falling quadruped robots using a 3-DoF morphable inertial tail
IEEE International Conference on Robotics and Automation (ICRA), doi: 10.1109/icra48891.2023.10161422
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A fast soft robotic laser sweeping system using data-driven modeling approach
IEEE Transactions on Robotics, doi: 10.1109/tro.2023.3262118
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Learning-based visual-strain fusion for eye-in-hand continuum robot pose estimation and control
IEEE Transactions on Robotics, doi: 10.1109/tro.2023.3240556
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Task-oriented grasping position selection in deformable object manipulation
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2022.3231495
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Design, teleoperation control and experimental validation of a dexterous robotic flexible endoscope for laparoscopic surgery
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), doi: 10.1109/iros47612.2022.9981536
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Feedback control for collision-free nonholonomic vehicle navigation on SE(2) with null space circumvention
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2022.3186174
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Adaptive flight stabilization framework for a planar 4R-Foldable quadrotor: utilizing morphing to navigate in confined environments
American Control Conference (ACC), doi: 10.23919/acc53348.2022.9867402
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Hybrid-structure hand-held robotic endoscope for sinus surgery with enhanced distal dexterity
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2022.3175807
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Design and experimental validation of a monopod robot with 3-DoF morphable inertial tail for somersault
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2022.3167990
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Opposite treatment on null space: a unified control framework for a class of underactuated robotic systems with null space avoidance
IEEE Transactions on Control Systems Technology, doi: 10.1109/tcst.2022.3171914
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Exponential attitude tracking and disturbance rejection of rigid body systems
International Journal of Robust and Nonlinear Control, doi: 10.1002/rnc.6149
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A handheld steerable surgical drill with a novel articulated joint module for dexterous confined-space bone work
IEEE Transactions on Biomedical Engineering, doi: 10.1109/tbme.2022.3157818
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Modeling and control of soft robotic tail based aerial maneuvering(STAM) system: towards agile self-righting with a soft tail
IEEE International Conference on Advanced Robotics (ICAR), doi: 10.1109/icar53236.2021.9659375
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A geometry metric for nonholonomically constrained three degree of freedom kinematic systems: enabling real-time control and online optimization
RSS Workshop on Geometry and Topology in Robotics: Learning, Optimization, Planning, and Control
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Operational space control for planar PAN-1 underactuated manipulators using orthogonal projection and quadratic programming
IEEE International Conference on Robotics and Automation (ICRA), doi: 10.1109/icra48506.2021.9561278
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Development of a portable hybrid pendubot-acrobot robotic platform for on and off campus teaching and learning
American Control Conference (ACC), doi: 10.23919/acc50511.2021.9482939
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Design and experimental validation of a miniaturized robotic tendon-driven articulated surgical drill for enhancing distal dexterity in minimally invasive spine fusion
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2021.3077706
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Learning deep nets for gravitational dynamics with unknown disturbance through physical knowledge distillation: initial feasibility study
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2021.3062351
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Non-fixed contact manipulation control framework for deformable objects with active contact adjustment
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2021.3062302
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A task space virtual fixture architecture for tele-operated surgical system with slave joint limit constraints
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2021.3058174
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Task-oriented contact adjustment in deformable objects manipulation with non-fixed contact
IROS Workshop on Managing Deformation: A Step Towards Higher Robot Autonomy
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Development of a bipedal hopping robot with morphable inertial tail for agile locomotion
International Conference for Biomedical Robotics and Biomechatronics (BioRob), doi: 10.1109/biorob49111.2020.9224428
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A norm-regulation-based limit cycle control of vertical hoppers
American Control Conference (ACC), doi: 10.23919/acc45564.2020.9147375
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A novel strategy for stabilization control of a planar three-link underactuated manipulator with a passive first joint
American Control Conference (ACC), doi: 10.23919/acc45564.2020.9147798
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Utilizing null space in overactuated systems vs avoiding null space in underactuated systems
RSS Workshop on Robotics Retrospectives
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Towards agile maneuver generation for terrestrial robots in flight phase
Dynamic Walking
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Opposite treatments on null space: null space projection vs null space avoidance
IROS Late Breaking Results Poster
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Interfacing soft and hard: a spring reinforced actuator
Soft Robotics, doi: 10.1089/soro.2018.0118
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Null-space-avoidance-based orientation control framework for underactuated, tail-inspired robotic systems in flight phase
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2019.2928759
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A reliable gravity compensation control strategy for dVRK robotic arms with nonlinear disturbance forces
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2019.2927953
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Semi-analytical orientation alignment with joint limit constraints for tele-operated surgical system
Hamlyn Symposium, doi: 10.31256/hsmr2019.25
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A reliable gravity compensation software package for the da Vinci Research Kit
ICRA Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems
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Null-space-avoidance-based attitude stabilization control for coupled space robot systems
ICRA Workshop on Robotic Technology for In-Space Assembly
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A reliable gravity compensation software package for da Vinci Research Kit
IEEE International Conference on Robotics and Automation (ICRA)
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Underwater dynamic visual servoing for a soft robot arm with online distortion correction
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2019.2908242
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Transcervical minimally invasive esophagectomy using da Vinci® SP™ surgical system: a feasibility study in cadaveric model
Surgical Endoscopy, doi: 10.1007/s00464-018-06628-3
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Underwater dynamic modeling for a cable-driven soft robot arm
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2018.2872972
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A compliant robotic instrument with coupled tendon driven articulated wrist control for organ retraction
IEEE Robotics and Automation Letters, doi: 10.1109/lra.2018.2863373
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A systematic modelling approach for motor-cable-joint kinematics of coupled tendon-driven surgical instrument
Hamlyn Symposium, doi: 10.31256/hsmr2018.9
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Design of an inherently safe robotic instrument for organ retraction by exploiting the buckling principle of a continuum bending beam
Hamlyn Symposium
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A case study of gravity compensation for da Vinci robotic manipulator: a practical perspective
ICRA Workshop on Supervised Autonomy in Surgical Robotics
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Comparison study of geometric representation for continuum manipulator
ICRA Workshop on Supervised Autonomy in Surgical Robotics
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Powered ankle-foot prosthesis improves walking metabolic economy
IEEE Transactions on Robotics, doi: 10.1109/tro.2008.2008747
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Powered ankle-foot prosthesis
IEEE Robotics & Automation Magazine, doi: 10.1109/mra.2008.927697
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Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits
Neural Networks, doi: 10.1016/j.neunet.2008.03.006
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Stabilization and path following of a single wheel robot
IEEE/ASME Transactions on Mechatronics, doi: 10.1109/tmech.2004.828642
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Control of tilt-up motion of a single wheel robot via model-based and human-based controllers
Mechatronics, doi: 10.1016/s0957-4158(00)00028-3
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Dynamic mobility with single-wheel configuration
The International Journal of Robotics Research, doi: 10.1177/02783649922066538