Submitted Papers

  • (2024) Ning Guo, Xudong Han, Fang Wan*, and Chaoyang Song*. “Flange-based Calibration with 3D Vision for Robotic Welding.” IEEE Sensors Journal. (Under Review)
  • (2024) Ning Guo#, Xudong Han#, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Fang Wan*, and Chaoyang Song*. “Reconstructing Soft Robotic Touch via In-Finger Vision.” Advanced Intelligent Systems. (Under Review)
  • (2024) Ning Guo#, Xudong Han#, Shuqiao Zhong#, Zhiyuan Zhou, Jian Lin, Fang Wan*, and Chaoyang Song*. “Proprioceptive State Estimation for Amphibious Tactile Sensing.” IEEE Transactions on Robotics. (Under Review for Special Issue on Tactile Robotics)
  • (2024) Fang Wan, and Chaoyang Song*. “SeeThruFinger: See and Grasp Anything with a Soft Touch.” Soft Robotics. (Under Review)
  • (2024) XXXX (Under Review)
  • (2024) XXXX (Under Review)
  • (2024) 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*. “Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning.” IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2024). (Under Review)
  • (2024) Sen Li, Fang Wan*, and Chaoyang Song*. “Active Surface with Passive Omni-Directional Adaptation for In-Hand Manipulation.” IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2024). (Under Review)
  • (2024) Tianyu Wu#, Yujian Dong#, Yang Xiao, Jinqi Wei, Fang Wan*, and Chaoyang Song*. “Vision-based, Low-cost, Soft Robotic Tongs for Shareable and Reproducible Tactile Learning.” IEEE International Conference on Advanced Robotics and Mechatronics (ICARM2024). (Under Review)
  • (2024) Nuofan Qiu, Fang Wan*, and Chaoyang Song*. “Describing Robots from Design to Learning: Towards an Interactive Lifecycle Representation of Robots.” IEEE International Conference on Advanced Robotics and Mechatronics (ICARM2024). (Under Review)

Journal Articles

  1. (2024) Xiaobo Liu#, Xudong Han#, Wei Hong, Fang Wan*, and Chaoyang Song*. “Proprioceptive Learning with Soft Polyhedral Networks.” The International Journal of Robotics Research, 0(0):1-20, (OnlineFirst).
    DOI: https://doi.org/10.1177/02783649241238765
  2. (2024) Tianyu Wu#, Yujian Dong#, Xiaobo Liu#, Xudong Han, Yang Xiao, Jinqi Wei, Fang Wan*, and Chaoyang Song*. “Vision-based Tactile Intelligence with Soft Robotic Metamaterial.” Materials & Design, 238(February):112629.
    DOI: https://doi.org/10.1016/j.matdes.2024.112629
  3. (2024) Ning Guo, Xudong Han, Xiaobo Liu, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Jiansheng Dai, Fang Wan*, and Chaoyang Song*. “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 of the January 2024 Issue
  4. (2023) Yu Pan, Xuanyi Dai, Fang Wan, Chaoyang Song, James KH Tsoi, and Edmond HN Pow*. “A novel post-processing strategy to improve the accuracy of complete-arch intraoral scanning for implants: an in vitro study.” Journal of Dentistry, 139:104761.
    DOI: https://doi.org/10.1016/j.jdent.2023.104761
  5. (2023) Xiaobo Liu, Xudong Han, Ning Guo, Fang Wan*, and Chaoyang Song*. “Bio-inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception.” Biomimetics, 8(6):501.
    DOI: https://doi.org/10.3390/biomimetics8060501
  6. (2023) Yuping Gu, Ziqian Wang, Shihao Feng, Haoran Sun, Haibo Lu, Jia Pan*, Fang Wan*, and Chaoyang Song*. “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.
  7. (2023) Haoran Sun#, Linhan Yang#, Yuping Gu, Jia Pan*, Fang Wan*, and Chaoyang Song*. “Bridging Locomotion and Manipulation Using Reconfigurable Robotic Limbs via Reinforcement Learning.” Biomimetics, 8(4):364.
    DOI: https://doi.org/10.3390/biomimetics8040364
  8. (2023) Jiayu Huo#, Jingran Wang#, Yuqin Guo, Wanghongjie Qiu, Mingdong Chen, Harry Asada, Fang Wan*, and Chaoyang Song*. “Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance.” Advanced Intelligent Systems, 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.
  9. (2022) Yuping Gu, Shihao Feng, Yuqin Guo, Fang Wan, Jian S. Dai, Jia Pan, and Chaoyang Song*. “Overconstrained Coaxial Design of Robotic Legs with Omni-directional Locomotion.” Mechanism and Machine Theory, 176: 105018.
    DOI: https://doi.org/10.1016/j.mechmachtheory.2022.105018
  10. (2022) Haokun Wang#, Xiaobo Liu#, Nuofan Qiu, Ning Guo, Fang Wan*, and Chaoyang Song*. “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
  11. (2021) Baiyue Wang#, Weijie Guo#, Shihao Feng, Hongdong Yi, Fang Wan, and Chaoyang Song*. “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
  12. (2021) Linhan Yang, Xudong Han, Weijie Guo, Fang Wan, Jia Pan, and Chaoyang Song*. “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
  13. (2021) Haiyang Jiang, Xudong Han, Yonglin Jing, Ning Guo, Fang Wan and Chaoyang Song*. “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
  14. (2020) Fang Wan#, Haokun Wang#, Jiyuan Wu, Yujia Liu, and Chaoyang Song*. “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
  15. (2020) Linhan Yang, Fang Wan, Haokun Wang, Xiaobo Liu, Yujia Liu, Jia Pan, and Chaoyang Song*. “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
  16. (2020) Fang Wan and Chaoyang Song*. “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
  17. (2018) Fang Wan and Chaoyang Song*. “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
  18. (2015) Tie Yong Koh* and Fang Wan. ”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

  1. (2024) Kaixin Bai, Lei Zhang, Zhaopeng Chen*, Fang Wan, and Jianwei Zhang. “Close the Sim2real Gap Via Physically-Based Structured Light Synthetic Data Simulation.“ IEEE International Conference on Robotics and Automation (ICRA). Yokohama, Japan, on 13-17 May 2024 (Accepted).
  2. (2023) Xudong Han, Sheng Liu, Fang Wan* and Chaoyang Song*. “Vision-based Tactile Sensing for an Omni-adaptive Soft Finger.” IEEE International Conference on Development and Learning (ICDL). Macau, China, on 9-11 November 2023.
    DOI: https://doi.org/10.1109/ICDL55364.2023.10364455
  3. (2023) Yuqin Guo#, Rongzheng Zhang#, Wanghongjie Qiu, Harry Asada, Fang Wan* and Chaoyang Song. “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, on 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
  4. (2023) Xiaobo Liu#, Fang Wan#*, Sheng Ge, Haokun Wang, Haoran Sun, and Chaoyang Song. “Jigsaw-based Benchmarking for Learning Robotic Manipulation.” The 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
  5. (2022) Fang Wan, Xiaobo Liu, Ning Guo, Xudong Han, Feng Tian, and Chaoyang Song. “Scalable Tactile Sensing for an Omni-adaptive Soft Robot Finger.” Proceedings of the 5th Conference on Robot Learning (CoRL), PMLR 164: 1269-1278.
    URL: https://proceedings.mlr.press/v164/wan22a.html
  6. (2021) Haiyang Jiang, Yonglin Jing, Ning Guo, Weijie Guo, Fang Wan, and Chaoyang Song. “Lobster-inspired Finger Surface Design for Grasping with Enhanced Robustness,” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 2021, pp. 321-326.
    DOI: https://doi.org/10.1109/RoboSoft51838.2021.9479215
  7. (2021) Shihao Feng, Yuping Gu, Weijie Guo, Yuqin Guo, Fang Wan, Jia Pan, and Chaoyang Song. “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, 2021, pp. 11477-11484.
    DOI: https://doi.org/10.1109/ICRA48506.2021.9561829
  8. (2020) Zeyi Yang, Sheng Ge, Fang Wan, Yujia Liu, and Chaoyang Song. “Scalable Tactile Sensing for an Omni-adaptive Soft Robot Finger.” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 2020, pp. 572-577.
    DOI: https://doi.org/10.1109/robosoft48309.2020.9116026
  9. (2020) Xia Wu, Haiyuan Liu, Ziqi Liu, Mingdong Chen, Fang Wan, Chenglong Fu, Harry Asada, Zheng Wang, and Chaoyang Song. “Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance.” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 2020, pp. 599-606.
    DOI: https://doi.org/10.1109/robosoft48309.2020.9116028
  10. (2020) Fang Wan, Haokun Wang, Xiaobo Liu, Linhan Yang, and Chaoyang Song. “DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation.” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, 2020, pp. 2011-2018.
    DOI: https://doi.org/10.1109/aim43001.2020.9159011
  11. (2017) Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, Fang Wan, and Chaoyang Song. “A Reconfigurable Hybrid Actuator with Rigid and Soft Components.” IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 58-63.
    DOI: https://doi.org/10.1109/icra.2017.7988691
  12. (2017) Fang Wan, Zheng Wang, Brooke Franchuk, Xinyao Hu, Zhenglong Sun, and Chaoyang Song. “Hybrid actuator design for a gait augmentation wearable.” IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, Macao, 2017, pp. 2298-2302.
    DOI: https://doi.org/10.1109/robio.2017.8324761