Embodied Intelligence (Robotics)

This repository showcases projects from my work at the Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), where I focused on tactile recognition and robotics. Under the leadership of Dr. Zhengkun Yi, the head of our research group, I collaborated closely with both Dr. Yi and Dr. Meng Yin. During this time, I also worked closely with my master’s thesis advisor, Dr. Putra Sumari.

Publications

  1. A spring-based rigid-soft robotic gripper for conformal grasping and object recognition
    Z. Li, M. Yin, B. Huang, Z. Cai, Z. Yi, X. Wu
    Journal of the Brazilian Society of Mechanical Sciences and Engineering, 46 (2024)

  2. Dynamic liquid volume estimation using optical tactile sensors and spiking neural network
    B. Huang, S. Fang, M. Yin, Z. Yi, C. Ye, X. Li, Z. Zhou, X. Wu
    Intelligent Service Robotics, 17(2), 345-355 (2024)

  3. A shortcut enhanced LSTM-GCN network for multi-sensor based human motion tracking
    X. Li, C. Ye, B. Huang, Z. Zhou, Y. Su, Y. Ma, Z. Yi, X. Wu
    IEEE Transactions on Automation Science and Engineering (2023)

  4. Attention-enhanced BLSTM Network for Liquid Volume Estimation based on Tactile Sensing
    Y. Su, J. Wang, B. Huang, X. Li, Y. Liu, C. Liu, Z. Zhou, Z. Yi, X. Wu
    2023 IEEE International Conference on Real-time Computing and Robotics (RCAR) (2023)

  5. GelPixel: A Single-Pixel-Based Tactile Sensor
    B. Huang, X. Li, P. Sumari, C. Ye, Z. Zhou, M. Yin, Z. Yi, X. Wu
    2023 IEEE International Conference on Real-time Computing and Robotics (RCAR) (2023)

  6. TGCN-P: A TCN-GCN Network With Weighted Graph Constructed by Pearson Correlation Coefficient for Human Motion Tracking
    X. Li, J. Wang, B. Huang, C. Liu, Y. Liu, Y. Zhang, Z. Yi, X. Wu
    2023 IEEE International Conference on Real-time Computing and Robotics (RCAR) (2023)

  7. A Self-supervised Contrastive Learning Method for Grasp Outcomes Prediction
    C. Liu, B. Huang, Y. Liu, Y. Su, K. Mai, Y. Zhang, Z. Yi, X. Wu
    2023 IEEE International Conference on Real-time Computing and Robotics (RCAR) (2023)

  8. A deep learning method based on triplet network using self-attention for tactile grasp outcomes prediction
    C. Liu, Z. Yi, B. Huang, Z. Zhou, S. Fang, X. Li, Y. Zhang, X. Wu
    IEEE Transactions on Instrumentation and Measurement, 72, 1-14 (2023)

  9. Methods to recognize depth of hard inclusions in soft tissue using ordinal classification for robotic palpation
    Z. Zhou, B. Huang, R. Zhang, M. Yin, C. Liu, Y. Liu, Z. Yi, X. Wu
    IEEE Transactions on Instrumentation and Measurement, 71, 1-12 (2022)

  10. Multi-kernel-size Convolutional Supervised Autoencoders for Tactile Gesture Recognition
    C. Ye, X. Li, B. Huang, Y. Su, T. Mi, Z. Zhou, Z. Yi, X. Wu
    2022 12th International Conference on CYBER Technology in Automation (2022)

  11. Depth Recognition of Hard Inclusions in Tissue Phantoms for Robotic Palpation
    Z. Zhou, S. Fang, C. Ye, T. Mi, B. Huang, X. Li, Z. Yi, X. Wu
    2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) (2022)

  12. Modeling and control strategy of flexible joint servo system in humanoid manipulator driven by tendon-sheath
    M. Yin, D. Shang, B. Huang, X. Wu, W. Feng
    Journal of Mechanical Science and Technology, 36(5), 2585-2595 (2022)

  13. RBF network-based adaptive sliding mode control strategy for the tendon-sheath driven joint of a prosthetic hand
    M. Yin, B. Huang, Z. Yi, S. Cai
    Technology and Health Care, 30(5), 1155-1165 (2022)

Patent

  1. A Multimodal Tactile Data Fusion Perception Method for Tumor Depth Recognition
    Z. Zhou, Z. Yi, X. Wu, S. Fang, X. Li, B. Huang

  2. A Soft Robotic Finger Mechanism with Tactile and Bending Sensing Capabilities
    M. Yin, Z. Yi, X. Wu, B. Huang

  3. A 3D Tactile Sensor Based on Photosensitive Elements
    Z. Yi, M. Yin, B. Huang, X. Wu

This page contains research projects and publications from my work in embodied intelligence and robotics at SIAT, CAS.