Submitted Papers, ArXiv PrePrints & Working Papers

9. (2024)-J-MatDes-SimWeld | PDF | ArXiv

He Wang, Xiaobo Liu, Jiansheng Dai, Chaoyang Song, and Fang Wan*.
“ADAP: Adaptive & Dynamic Arc Padding for Predicting Seam Profiles in Multi-Layer-Multi-Pass Robotic Welding.”
Materials & Design. (Under Review)

8. (2024)-J-XXXXX-XXXXX | PDF | ArXiv | Video

Ning Guo#, Xudong Han#, Shuqiao Zhong#, Zhiyuan Zhou, Jian Lin, Jiansheng Dai, Fang Wan*, and Chaoyang Song*.
“Proprioceptive State Estimation for Amphibious Tactile Sensing.”
IEEE Transactions on Robotics. (Under Review for Special Issue on Tactile Robotics, 1st Round Review Replied)

6. (2023)-J-SoRo-SeeThruFinger | PDF | ArXiv | Video1

Fang Wan, and Chaoyang Song*.
“SeeThruFinger: See and Grasp Anything with a Soft Touch.”
Soft Robotics. (Under Review, 1st Round Review Replied)

5. (2024)-J-MEAS-FlangeCalibWeld | PDF | ArXiv | Video1

Ning Guo, Xudong Han, Fang Wan*, and Chaoyang Song*.
“Flange-based Calibration with 3D Vision for Robotic Welding.”
Measurement. (Under Review)

4. (2024)-C-XXXXX-XXXXX | PDF | ArXiv | Video1

3. (2024)-C-XXXXX-XXXXX | PDF | ArXiv | Video1

2. (2023)-A-ArXiv-OverconstrainedQuadruped | PDF | ArXiv

Ronghan Xu#, Jiayi Yin#, Shihao Feng#, Bangchao Huang, Haoran Sun, Jia Pan, Fang Wan*, and Chaoyang Song*.
“Overconstrained Robotic Limb with Energy-Efficient, Omni-directional Locomotion.”
arXiv:2310.09824 [cs.RO]

1. (2024)-W-JoD-AutomatedDentalDesign | PDF | ArXiv | Video1

Chengxiao Dong#, Yu Pan#, Xuanyi Dai, Edmond Pow, Fang Wan*, and Chaoyang Song*.
“Efficient and Accurate Robotic Process Automation for Complete Edentulous Patients.”
Computers in Biology and Medicine. (Working)

Journal Articles

Ning Guo, Xudong Han, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Fang Wan*, and Chaoyang Song* (2024). “Reconstructing Soft Robotic Touch via In-Finger Vision.” Advanced Intelligent Systems.
doi: To-Be-Updated (Accepted)
Selected as the Cover Article.

Xiaobo Liu#, Xudong Han#, Wei Hong, Fang Wan*, and Chaoyang Song* (2024). “Proprioceptive Learning with Soft Polyhedral Networks.” The International Journal of Robotics Research (OnlineFirst).
doi: https://doi.org/10.1177/02783649241238765

17. (2024)-J-MatDes-SoftInterface | PDF | ArXiv | GitHub | Video1

Tianyu Wu#, Yujian Dong#, Xiaobo Liu#, Xudong Han, Yang Xiao, Jinqi Wei, Fang Wan*, and Chaoyang Song* (2024). “Vision-based Tactile Intelligence with Soft Robotic Metamaterial.” Materials & Design, 238(February):112629.
doi: https://doi.org/10.1016/j.matdes.2024.112629

Ning Guo, Xudong Han, Xiaobo Liu, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Jiansheng Dai, Fang Wan*, and Chaoyang Song* (2024). “Autoencoding a Soft Touch to Learn Grasping from On-land to Underwater.” Advanced Intelligent Systems, 6(1):2300382.
doi: https://doi.org/10.1002/aisy.202300382
Selected as the Front Cover for the January 2024 issue.

15. (2023)-J-JoDent-CompleteArchy | PDF

Yu Pan, Xuanyi Dai, Fang Wan, Chaoyang Song, James KH Tsoi, Edmond HN Pow* (2023). “A Novel Post-Processing Strategy to Improve the Accuracy of Complete-Arch Intraoral Scanning for Implants: An In Vitro Study.” Journal of Dentistry, 139(December):104761.
doi: https://doi.org/10.1016/j.jdent.2023.104761

14. (2023)-J-Biomimetics-PropSkinTouch | PDF | ArXiv | Video1

Xiaobo Liu, Xudong Han, Ning Guo, Fang Wan*, and Chaoyang Song* (2023). “Bio-inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception.” Biomimetics, 8(6):501.
doi: https://doi.org/10.3390/biomimetics8060501

13. (2023)-J-JCDE-OCLimbDesign | PDF | Video1

Yuping Gu, Ziqian Wang, Shihao Feng, Haoran Sun, Haibo Lu, Jia Pan*, Fang Wan*, and Chaoyang Song* (2023). “Computational Design Towards Energy Efficient Optimization in Overconstrained Robotic Limbs.” Journal of Computational Design and Engineering, 10(5):1941–1956.
doi: https://doi.org/10.1093/jcde/qwad083
Selected as the Editor’s Choice.

12. (2023)-J-Biomimetics-LocoManipulation | PDF | Video1

Haoran Sun#, Linhan Yang#, Yuping Gu, Jia Pan*, Fang Wan*, and Chaoyang Song* (2023). “Bridging Locomotion and Manipulation Using Reconfigurable Robotic Limbs via Reinforcement Learning.” Biomimetics, 8(4):364.
doi: https://doi.org/10.3390/biomimetics8040364

11. (2023)-J-AIS-UnderwaterSuperlimb | PDF | Video1

Jiayu Huo#, Jingran Wang#, Yuqin Guo, Wanghongjie Qiu, Mingdong Chen, Harry Asada, Fang Wan*, and Chaoyang Song* (2023). “Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance.” Advanced Intelligent Systems, 5(11):2300245.
doi: https://doi.org/10.1002/aisy.202300245
Selected as the Editor’s Choice.
Selected as the Back Cover for the November 2023 issue.

10. (2022)-J-MMT-BennettRoboticLeg | PDF | Video1

Yuping Gu, Shihao Feng, Yuqin Guo, Fang Wan, Jian S. Dai, Jia Pan, and Chaoyang Song* (2022). “Overconstrained Coaxial Design of Robotic Legs with Omni-directional Locomotion.” Mechanism and Machine Theory, 176(10):105018.
doi: https://doi.org/10.1016/j.mechmachtheory.2022.105018

9. (2022)-J-FROBT-DeepClaw2.0 | PDF | Video1

Haokun Wang#, Xiaobo Liu#, Nuofan Qiu, Ning Guo, Fang Wan, and Chaoyang Song* (2022). “DeepClaw 2.0: A Data Collection Platform for Learning Human Manipulation.” Frontiers in Robotics and AI, 9:787291.
doi: https://doi.org/10.3389/frobt.2022.787291

8. (2021)-J-RAL-VESA | PDF | Video1

Baiyue Wang, Weijie Guo, Shihao Feng, Hongdong Yi, Fang Wan, and Chaoyang Song* (2021). “Volumetrically Enhanced Soft Actuator with Proprioceptive Sensing.” IEEE Robotics and Automation Letters, 6(3):5284-5291.
doi: https://doi.org/10.1109/LRA.2021.3072859

7. (2021)-J-RAL-OptoSensingFinger | PDF | Video1

Linhan Yang, Xudong Han, Weijie Guo, Fang Wan, Jia Pan, and Chaoyang Song* (2021). “Learning-based Optoelectronically Innervated Tactile Finger for Rigid-Soft Interactive Grasping.” IEEE Robotics and Automation Letters, 6(2):3817-3824.
doi: https://doi.org/10.1109/LRA.2021.3065186

6. (2021)-J-FROBT-LobsterFingerSurface | PDF | Video1

Haiyang Jiang, Xudong Han, Yonglin Jing, Ning Guo, Fang Wan and Chaoyang Song* (2021). “Rigid-Soft Interactive Design of a Lobster-Inspired Finger Surface for Enhanced Grasping Underwater.” Frontiers in Robotics and AI, 8:787187.
doi: https://doi.org/10.3389/frobt.2021.787187

5. (2020)-J-RAL-OmniGripper | PDF | Video1

Fang Wan#, Haokun Wang#, Jiyuan Wu, Yujia Liu, Sheng Ge, and Chaoyang Song* (2020). “A Reconfigurable Design for Omni-adaptive Grasp Learning.” IEEE Robotics and Automation Letters, 5(3):4210-4217.
doi: https://doi.org/10.1109/lra.2020.2982059

4. (2020)-J-RAL-InteractiveLearning | PDF | Video1

Linhan Yang, Fang Wan, Haokun Wang, Xiaobo Liu, Yujia Liu, Jia Pan, and Chaoyang Song* (2020). “Rigid-Soft Interactive Learning for Robust Grasping.” IEEE Robotics and Automation Letters, 5(2):1720-1727.
doi: https://doi.org/10.1109/lra.2020.2969932

3. (2020)-J-FROBT-FlangeCalibration | PDF | Video1

Fang Wan and Chaoyang Song* (2020). “Flange-Based Hand-Eye Calibration Using a 3D Camera with High Resolution, Accuracy, and Frame Rate.” Frontiers in Robotics and AI, 7:65.
doi: https://doi.org/10.3389/frobt.2020.00065

2. (2018)-J-FROBT-LogicalLearning | PDF | ArXiv

Fang Wan and Chaoyang Song* (2018). “A Neural Network with Logical Reasoning based on Auxiliary Inputs.” Frontiers in Robotics and AI, 5:86.
doi: https://doi.org/10.3389/frobt.2018.00086

1. (2015)-J-ACP-AtNormMetric | PDF

Tie Yong Koh* and Fang Wan (2015). “Theory of the Norm-Induced Metric in Atmospheric Dynamics” Atmospheric Chemistry and Physics, 15(5): 2571-2594.
doi: https://doi.org/10.5194/acp-15-2571-2015

Conference Papers

34. (2024)-C-ICRA2024-StructLightSim2Real | PDF | ArXiv

Kaixin Bai, Lei Zhang, Zhaopeng Chen*, Fang Wan, and Jianwei Zhang (2024). “Close the Sim2real Gap Via Physically-Based Structured Light Synthetic Data Simulation.” IEEE International Conference on Robotics and Automation (ICRA2024). Yokohama, Japan, on 13-17 May 2024.
doi: To-Be-Updated (Accepted)

20. (2024)-C-ICARM2024-ACDC4Robot | PDF | ArXiv | Video1

Nuofan Qiu, Chaoyang Song, and Fang Wan* (2024). “Describing Robots from Design to Learning: Towards an Interactive Lifecycle Representation of Robots.” IEEE International Conference on Advanced Robotics and Mechatronics (ICARM2024). Tokyo, Japan, 8-10 July 2024.
doi: To-Be-Updated (Accepted)

19. (2024)-C-ICARM2024-SoftRoboticTongs | PDF | ArXiv | GitHub | Video1

Tianyu Wu#, Yujian Dong#, Yang Xiao, Jinqi Wei, Fang Wan*, and Chaoyang Song* (2024). “Vision-based, Low-cost, Soft Robotic Tongs for Shareable and Reproducible Tactile Learning.” IEEE International Conference on Advanced Robotics and Mechatronics (ICARM2024). Tokyo, Japan, 8-10 July 2024.
doi: To-Be-Updated (Accepted)

18. (2024)-C-ReMAR2024-BennettWheelLegRL | PDF | ArXiv | Video1

Yenan Chen#, Chuye Zhang#, Pengxi Gu#, Jianuo Qiu, Jiayi Yin, Nuofan Qiu, Guojing Huang, Bangchao Huang, Zishang Zhang, Hui Deng, Wei Zhang, Fang Wan*, and Chaoyang Song* (2024). “Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning.” IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2024). Chicago, USA, 24-27 June 2024.
doi: To-Be-Updated (Accepted)

17. (2024)-C-ReMAR2024-InFingerSoftManip | PDF | ArXiv | Video1

Sen Li and Fang Wan* (2024). “Active Surface with Passive Omni-Directional Adaptation for In-Hand Manipulation.” IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2024). Chicago, USA, 24-27 June 2024.
doi: To-Be-Updated (Accepted)

16. (2023)-C-CASE-ThroatHead | PDF | ArXiv | Video1

Yuqin Guo#, Rongzheng Zhang#, Wanghongjie Qiu, Harry Asada, Fang Wan* and Chaoyang Song* (2023). “Underwater Intention Recognition using Head Motion and Throat Vibration for Supernumerary Robotic Assistance.” IEEE International Conference on Automation Science and Engineering (CASE). Auckland, New Zealand, 26-30 August 2023.
doi: https://doi.org/10.1109/CASE56687.2023.10260480
Award: IEEE RAS Travel Grant (Rongzheng Zhang) | About the Award
Award: Best Healthcare Automation Paper Award | About the Award

15. (2023)-C-ICDL-TactileMap | PDF | ArXiv

Xudong Han, Sheng Liu, Fang Wan* and Chaoyang Song* (2023). “Vision-based Tactile Sensing for an Omni-adaptive Soft Finger.” IEEE International Conference on Development and Learning (ICDL). Macau, China, 9-11 November 2023.
doi: https://doi.org/10.1109/ICDL55364.2023.10364455

14. (2023)-C-ICARM-JigsawLearning | PDF | ArXiv | Video1

Xiaobo Liu#, Fang Wan#*, Sheng Ge, Haokun Wang, Haoran Sun, and Chaoyang Song (2023). “Jigsaw-based Benchmarking for Learning Robotic Manipulation.” IEEE International Conference on Advanced Robotics and Mechatronics (ICARM). Sanya, China, 8-10 July 2023, pp. 124-130.
doi: https://doi.org/10.1109/ICARM58088.2023.10218784
Awards: Best Conference Paper Finalist | About the Award

13. (2022)-C-CoRL-VisualForceLearning | PDF | Video1

Fang Wan, Xiaobo Liu, Ning Guo, Xudong Han, Feng Tian, and Chaoyang Song* (2021). “Visual Learning Towards Soft Robot Force Control using a 3D Metamaterial with Differential Stiffness.” Proceedings of the 5th Conference on Robot Learning (CoRL), PMLR 164:1269-1278, 2022.
URL: https://proceedings.mlr.press/v164/wan22a

12. (2021)-C-RoboSoft-VESA | PDF

Weijie Guo, Baiyue Wang, Shihao Feng, Hongdong Yi, Fang Wan, and Chaoyang Song* (2021). “Volumetrically Enhanced Soft Actuator with Proprioceptive Sensing.” IEEE International Conference on Soft Robotics (RoboSoft). New Haven, CT, USA, 12-16 April 2021.
Dual-track Submission with RAL: 19. (2021)-J-RAL-VESA

11. (2021)-C-RoboSoft-LobsterSurface | PDF | Video1

Haiyang Jiang, Yonglin Jing, Ning Guo, Weijie Guo, Fang Wan, and Chaoyang Song* (2021). “Lobster-inspired Finger Surface Design for Grasping with Enhanced Robustness,” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 12-16 April 2021, pp. 321-326.
doi: https://doi.org/10.1109/RoboSoft51838.2021.9479215

10. (2021)-C-ICRA-OverconstrainedLeg | PDF | Video1

Shihao Feng, Yuping Gu, Weijie Guo, Yuqin Guo, Fang Wan, Jia Pan, and Chaoyang Song* (2021). “An Overconstrained Robotic Leg with Coaxial Quasi-direct Drives for Omni-directional Ground Mobility.” IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 30 May-5 June 2021, pp. 11477-11484.
doi: https://doi.org/10.1109/ICRA48506.2021.9561829

9. (2021)-C-ICRA-OptoSensingFinger | PDF | ArXiv

Linhan Yang, Xudong Han, Weijie Guo, Fang Wan, Jia Pan, and Chaoyang Song* (2021). “Learning-based Optoelectronically Innervated Tactile Finger for Rigid- Soft Interactive Grasping.” IEEE International Conference on Robotics and Automation (ICRA). Xi’an, China, 30 May-5 June 2021.
Dual-track Submission with RAL: 18. (2021)-J-RAL-OptoSensingFinger

8. (2020)-C-ICRA-InteractiveLearning | PDF | ArXiv

Linhan Yang, Fang Wan, Haokun Wang, Xiaobo Liu, Yujia Liu, Jia Pan, and Chaoyang Song* (2020). “Rigid-Soft Interactive Learning for Robust Grasping.” IEEE International Conference on Robotics and Automation (ICRA). Paris, France, 31 May-31 August 2020.
Dual-track Submission with RAL: 13. (2020)-J-RAL-InteractiveLearning

7. (2020)-C-RoboSoft-OmniFinger | PDF | ArXiv | Video1

Zeyi Yang, Sheng Ge, Fang Wan, Yujia Liu, and Chaoyang Song* (2020). “Scalable Tactile Sensing for an Omni-adaptive Soft Robot Finger.” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 15 May-15 July 2020, pp. 572-577.
doi: https://doi.org/10.1109/robosoft48309.2020.9116026

6. (2020)-C-RoboSoft-SuperCane | PDF | ArXiv | Video1

Xia Wu, Haiyuan Liu, Ziqi Liu, Mingdong Chen, Fang Wan, Chenglong Fu, Harry Asada, Zheng Wang, and Chaoyang Song* (2020). “Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance.” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 15 May-15 July 2020, pp. 599-606.
doi: https://doi.org/10.1109/robosoft48309.2020.9116028

5. (2020)-C-AIM-DeepClaw | PDF | ArXiv | Video1

Fang Wan, Haokun Wang, Xiaobo Liu, Linhan Yang, and Chaoyang Song* (2020). “DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation.” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, 6-10 July 2020, pp. 2011-2018.
doi: https://doi.org/10.1109/aim43001.2020.9159011

4. (2020)-C-RoboSoft-OmniGripper | PDF | ArXiv

Fang Wan, Haokun Wang, Jiyuan Wu, Yujia Liu, Sheng Ge, and Chaoyang Song* (2020). “Reconfigurable Design for Omni-adaptive Grasp Learning.” IEEE International Conference on Soft Robotics (RoboSoft). New Haven, CT, USA, 15 May-15 July 2020.
Dual-track Submission with RAL: 14. (2020)-J-RAL-OmniGripper

3. (2017)-C-ICRA-LobsterActuator | PDF | ArXiv | Video1

Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, Fang Wan, and Chaoyang Song* (2017). “A Reconfigurable Hybrid Actuator with Rigid and Soft Components.” IEEE International Conference on Robotics and Automation (ICRA), Marina Bay Sands, Singapore, 29 May-3 June 2017, pp. 58-63.
doi: https://doi.org/10.1109/icra.2017.7988691

2. (2017)-C-ICRA-LobsterGlove | PDF | ArXiv | Video1

Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, Fang Wan, and Chaoyang Song* (2017). “A Lobster-inspired Robotic Glove for Hand Rehabilitation.” IEEE International Conference on Robotics and Automation (ICRA), Marina Bay Sands, Singapore, 29 May-3 June 2017, pp. 111-116.
doi: https://doi.org/10.1109/icra.2017.7989556

1. (2017)-C-ROBIO-GaitWearable | PDF | ArXiv

Fang Wan, Zheng Wang, Brooke Franchuk, Xinyao Hu, Zhenglong Sun, and Chaoyang Song* (2017). “Hybrid Actuator Design for a Gait Augmentation Wearable.” IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, Macao, 5-8 December 2017, pp. 2298-2302.
doi: https://doi.org/10.1109/robio.2017.8324761