arXiv subjects

Changqing Guo

Publications and source records attributed to Changqing Guo.

10 recordsLinked to original sources

arXiv2026

Time-Division Multiplexing Actuation in Tendon-Driven Arms: Lightweight Design and Fault Tolerance

Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in remote, hazardous environments. This paper presents Time-Division Multiplexing Actuation (TDMA), a practical approach for tendon-driven robots that significantly reduces actuator count while preserving high torque output and intrinsic fault tolerance. The key hardware employs a vertically-stacked rotational selection structure that integrates self-rotating TDM motors for rapid configuration, electromagnetic clutches enabling sub-0.1 second engagement, a worm gear reducer for enhanced load capacity and self-locking capability, and a dual-encoder system for precise, long-term positioning. Leveraging TDMA, the proposed MuxArm achieves a self-weight of 2.17 kg, supports an actuator driving capacity of 10 kg, and maintains end-effector accuracy up to 1% of its length, even under partial servo failure. Additionally, an actuation space trajectory planning algorithm is developed, enabling fault-tolerant control and reducing tendon load by up to 50% compared to conventional methods. Comprehensive experiments demonstrate MuxArm's robust performance in diverse settings, including free-space, cluttered, and confined environments.

cs.RO↗

arXiv2026

FlexiCup: Wireless Multimodal Suction Cup with Dual-Zone Vision-Tactile Sensing

Conventional suction cups lack sensing capabilities for contact-aware manipulation in unstructured environments. This paper presents FlexiCup, a multimodal suction cup with wireless electronics that integrate dual-zone vision-tactile sensing. The central zone dynamically switches between vision and tactile modalities via illumination control, while the peripheral zone provides continuous spatial awareness. The modular mechanical design supports both vacuum (sustained-contact adhesion) and Bernoulli (contactless lifting) actuation while maintaining the identical dual-zone sensing architecture, demonstrating sensing-actuation decoupling where sensing and actuation principles are orthogonally separable. We validate hardware versatility through dual control paradigms. Modular perception-driven grasping achieves comparable success rates across vacuum (90.0%) and Bernoulli (86.7%) modes using identical sensing and control pipelines, validating the sensing architecture's effectiveness across fundamentally different pneumatic principles. Diffusion-based end-to-end learning achieves 73.3% and 66.7% success on contact-aware manipulation tasks, with ablation studies confirming 13% improvements from multi-head attention coordinating dual-zone observations. Hardware designs, firmware, and experimental videos are available at the companion website: https://flexicup.junhaogong.top.

cs.RO↗

arXiv2026

SandWorm: Event-based Visuotactile Perception with Active Vibration for Screw-Actuated Robot in Granular Media

Perception in granular media remains challenging due to unpredictable particle dynamics. To address this challenge, we present SandWorm, a biomimetic screw-actuated robot augmented by peristaltic motion to enhance locomotion, and SWTac, a novel event-based visuotactile sensor with an actively vibrated elastomer. The event camera is mechanically decoupled from vibrations by a spring isolation mechanism, enabling high-quality tactile imaging of both dynamic and stationary objects. For algorithm design, we propose an IMU-guided temporal filter to enhance imaging consistency, improving MSNR by 24%. Moreover, we systematically optimize SWTac with vibration parameters, event camera settings and elastomer properties. Motivated by asymmetric edge features, we also implement contact surface estimation by U-Net. Experimental validation demonstrates SWTac's 0.2 mm texture resolution, 98% stone classification accuracy, and 0.15 N force estimation error, while SandWorm demonstrates versatile locomotion (up to 12.5 mm/s) in challenging terrains, successfully executes pipeline dredging and subsurface exploration in complex granular media (observed 90% success rate). Field experiments further confirm the system's practical performance.

cs.RO↗

arXiv2026

CEI: A Unified Interface for Cross-Embodiment Visuomotor Policy Learning in 3D Space

Robotic foundation models trained on large-scale manipulation datasets have shown promise in learning generalist policies, but they often overfit to specific viewpoints, robot arms, and especially parallel-jaw grippers due to dataset biases. To address this limitation, we propose Cross-Embodiment Interface (\CEI), a framework for cross-embodiment learning that enables the transfer of demonstrations across different robot arm and end-effector morphologies. \CEI introduces the concept of \textit{functional similarity}, which is quantified using Directional Chamfer Distance. Then it aligns robot trajectories through gradient-based optimization, followed by synthesizing observations and actions for unseen robot arms and end-effectors. In experiments, \CEI transfers data and policies from a Franka Panda robot to \textbf{16} different embodiments across \textbf{3} tasks in simulation, and supports bidirectional transfer between a UR5+AG95 gripper robot and a UR5+Xhand robot across \textbf{6} real-world tasks, achieving an average transfer ratio of 82.4\%. Finally, we demonstrate that \CEI can also be extended with spatial generalization and multimodal motion generation capabilities using our proposed techniques. Project website: https://cross-embodiment-interface.github.io/

cs.RO↗

arXiv2025

Phase-field simulation of domain switching in ferroelectric trilayer films under bending-induced strain gradient

Flexible ferroelectrics possess significant potential for wearable electronics and bio-inspired devices, yet their electromechanical coupling mechanisms under dynamic bending remain elusive. This study employs phase-field simulations to investigate the effects of bending deformation on domain structures and macroscopic ferroelectric responses in (SrTiO3)10/(PbTiO3)10/(SrTiO3)10 trilayer films. By constructing computational models for upward-concave (U-shaped) and downward-concave (N-shaped) configurations, we analyze the regulation of polarization patterns by strain distributions under varying curvature radii. The results demonstrate that the two bending modes generate opposite through-thickness strain gradients: U-shaped bending produces compressive strain in the upper layer and tensile strain in the lower, while N-shaped bending yields the reverse. These inhomogeneous strains drive distinct polarization reconfigurations within the PTO layer. While stable vortex-antivortex pairs persist at moderate curvatures, reducing the bending radius triggers divergent topological transitions -- U-shaped bending transforms vortex pairs into zigzag-like domains, whereas N-shaped bending promotes out-of-plane c-domain evolution. Crucially, bending-induced strain gradients generate transverse flexoelectric fields that markedly modulate hysteresis loops. U-shaped bending introduces a negative flexoelectric field, shifting loops rightward and suppressing maximum polarization Pmax. In contrast, N-shaped bending generates a positive field, shifting loops leftward and enhancing Pmax. Furthermore, analysis of polarization switching reveals that bending mediates domain-evolution pathways and reversal dynamics.

cond-mat.mtrl-sci↗

arXiv2025

UltraTac: Integrated Ultrasound-Augmented Visuotactile Sensor for Enhanced Robotic Perception

Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that combines visuotactile imaging with ultrasound sensing through a coaxial optoacoustic architecture. The design shares structural components and achieves consistent sensing regions for both modalities. Additionally, we incorporate acoustic matching into the traditional visuotactile sensor structure, enabling integration of the ultrasound sensing modality without compromising visuotactile performance. Through tactile feedback, we dynamically adjust the operating state of the ultrasound module to achieve flexible functional coordination. Systematic experiments demonstrate three key capabilities: proximity sensing in the 3-8 cm range ($R^2=0.90$), material classification (average accuracy: 99.20%), and texture-material dual-mode object recognition achieving 92.11% accuracy on a 15-class task. Finally, we integrate the sensor into a robotic manipulation system to concurrently detect container surface patterns and internal content, which verifies its potential for advanced human-machine interaction and precise robotic manipulation.

cs.RO↗

arXiv2024

Chemistry3D: Robotic Interaction Benchmark for Chemistry Experiments

The advent of simulation engines has revolutionized learning and operational efficiency for robots, offering cost-effective and swift pipelines. However, the lack of a universal simulation platform tailored for chemical scenarios impedes progress in robotic manipulation and visualization of reaction processes. Addressing this void, we present Chemistry3D, an innovative toolkit that integrates extensive chemical and robotic knowledge. Chemistry3D not only enables robots to perform chemical experiments but also provides real-time visualization of temperature, color, and pH changes during reactions. Built on the NVIDIA Omniverse platform, Chemistry3D offers interfaces for robot operation, visual inspection, and liquid flow control, facilitating the simulation of special objects such as liquids and transparent entities. Leveraging this toolkit, we have devised RL tasks, object detection, and robot operation scenarios. Additionally, to discern disparities between the rendering engine and the real world, we conducted transparent object detection experiments using Sim2Real, validating the toolkit's exceptional simulation performance. The source code is available at https://github.com/huangyan28/Chemistry3D, and a related tutorial can be found at https://www.omni-chemistry.com.

cs.RO↗

arXiv2022

Designing of super-elastic freestanding ferroelectric thin films guided by phase-field simulations

Understanding the dynamic behavior of the domain structure is critical to the design and application of super-elastic freestanding ferroelectric thin films. The phase-field simulation is currently a powerful tool for observing, exploring, and revealing domain switching behavior and phase transition in ferroelectric materials at the mesoscopic scale. The present review summarizes the recent progress of phase-field methods in the theoretical interpretation, mechanical response, and domain structure evolution of freestanding ferroelectric thin films, wrinkled structures, and nano-springs. Furthermore, the strong coupling relationship between strain and ferroelectric polarization in super-elastic ferroelectric nanostructures is confirmed and discussed, which brings new design strategies for strain engineering of freestanding ferroelectric thin film systems. To further promote the innovative development and application of the freestanding ferroelectric thin film system, the review ends with a summary and an outlook on the theoretical model of the freestanding ferroelectric thin film.

cond-mat.mtrl-sci↗

arXiv2020

Giant Polarization and Abnormal Flexural Deformation in Bent Freestanding Perovskite Oxides

Recent realizations of ultrathin freestanding perovskite oxides offer a unique platform to probe novel properties in two-dimensional oxides. Here, we observed a giant flexoelectric response in freestanding BiFeO3 and SrTiO3 in their bent state arising from strain gradients up to 4x10e7/m, suggesting a promising approach for realizing extremely large polarizations. Additionally, a substantial reversible change in thickness was discovered in bent freestanding BiFeO3, which implies an unusual bending-expansion/shrinkage and thickness-dependence Poisson's ratios in this ferroelectric membrane that has never been seen before in crystalline materials. Our theoretical modeling reveals that this unprecedented flexural deformation within the membrane is attributable to a flexoelectricity-piezoelectricity interplay. The finding unveils intriguing nanoscale electromechanical properties and provides guidance for their practical applications in flexible nanoelectromechanical systems.

cond-mat.mtrl-sci↗

arXiv2020

Domain evolution in bended freestanding BaTiO3 ultrathin films: a phase-field simulation

Perovskite ferroelectric oxides are usually considered to be brittle materials, however, recent work [Dong et al., Science 366, 475 (2019)] demonstrated the super-elasticity in the freestanding BaTiO3 thin films. This property may originate from the ferroelectric domain evolution during the bending, which is difficult to observe in experiments. Therefore, understanding the relation among the bending deformation, thickness of the films, and the domain dynamics is critical for their potential applications in flexible ferroelectric devices. Here, we reported the dynamics of ferroelectric polarization in the freestanding BaTiO3 ultrathin films in the presence of large bending deformation up to 40° using phase-field simulation. The ferroelectric domain evolution reveals the transition from the flux-closure to a/c domains with "vortex-like" structures, which caused by the increase of out-of-plane ferroelectric polarization. Additionally, by varying the film thickness in the identical bending situation, we found the a/c phase with "vortex-like" structure emerges only as the film thickness reached 12 nm or higher. Results from our investigations provide instructive information for the microstructure evolution of bending ferroelectric perovskite oxide films, which could serve as guide for the future application of ferroelectric films on flexible electronic devices.

cond-mat.mtrl-sci↗