arXiv subjects

Diansheng Chen

Publications and source records attributed to Diansheng Chen.

3 recordsLinked to original sources

arXiv2026

Robotic Servo Tracking of Moving Targets with Dynamic Imitation Constraints

Imposing explicit trajectory constraints in robot visual servoing remains challenging. Existing tracking methods achieve fast responses by mapping visual residuals to control velocities, but they have weak constraints on the intermediate motion process, which lead to trajectory discontinuity, oscillation, or conservative behaviors. To enable constrained tracking for moving targets, this paper proposes a servo tracking method based on imitation trajectory constraints. A dynamic model describing the robot approaching a moving target is formulated and analyzed for convergence. A time-scalable deformation mechanism and a trajectory modulation incorporating shape and amplitude components are introduced to generate a series of trajectories in real time, from which tracking points are adaptively determined to form dynamic constraints. The robot velocity is then computed from target pose differentials or tracked key features to follow the constrained trajectory. Simulation and real-world experiments demonstrate that the proposed method can achieve dynamic obstacle avoidance and high-precision convergence compared with several state-of-the-art methods in complex environments.

cs.RO↗

arXiv2025

MambaMorph: a Mamba-based Framework for Medical MR-CT Deformable Registration

Capturing voxel-wise spatial correspondence across distinct modalities is crucial for medical image analysis. However, current registration approaches are not practical enough in terms of registration accuracy and clinical applicability. In this paper, we introduce MambaMorph, a novel multi-modality deformable registration framework. Specifically, MambaMorph utilizes a Mamba-based registration module and a fine-grained, yet simple, feature extractor for efficient long-range correspondence modeling and high-dimensional feature learning, respectively. Additionally, we develop a well-annotated brain MR-CT registration dataset, SR-Reg, to address the scarcity of data in multi-modality registration. To validate MambaMorph's multi-modality registration capabilities, we conduct quantitative experiments on both our SR-Reg dataset and a public T1-T2 dataset. The experimental results on both datasets demonstrate that MambaMorph significantly outperforms the current state-of-the-art learning-based registration methods in terms of registration accuracy. Further study underscores the efficiency of the Mamba-based registration module and the lightweight feature extractor, which achieve notable registration quality while maintaining reasonable computational costs and speeds. We believe that MambaMorph holds significant potential for practical applications in medical image registration. The code for MambaMorph is available at: https://github.com/Guo-Stone/MambaMorph.

cs.CV↗

arXiv2021

Compact pneumatic clutch with integrated stiffness variation and position feedback

Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of solutions bringing high-fidelity feedback and maintaining design and functional integrity. In this work, we propose a novel minimal clutch with integrated stiffness variation and real-time position feedback whose performance surpasses conventional jamming solutions. We introduce integrated design, modeling, and verification of the clutch in detail. Preliminary experimental results show the change in impedance force of the clutch is close to 24-fold at the maximum force density of 15.64 N/cm2. We validated the clutch experimentally in (1) enhancing the bending stiffness of a soft actuator to increase a soft manipulator's gripping force by 73%; (2) enabling a soft cylindrical actuator to execute omnidirectional movement; (3) providing real-time position feedback for hand posture detection and impedance force for kinesthetic haptic feedback. This manuscript presents the functional components with a focus on the integrated design methodology, which will have an impact on the development of soft robots and wearable devices.

cs.RO↗