arXiv subjects

Xingjian Jing

Publications and source records attributed to Xingjian Jing.

4 recordsLinked to original sources

arXiv2026

Scalable Dynamic Tactile Sensing Enabled by Passive and Flexible Acoustic Waveguides

Artificial dynamic tactile sensing requires sensitivity, robustness, and compliance, yet existing technologies face trade-offs when scaling to large-area arrays, compounded by wiring complexity and cost. Here, we report a passive distributed paradigm using deep sub-wavelength acoustic waveguides that decouples performance from structural flexibility. Elastic-membrane-capped Helmholtz resonators interconnected by spring-reinforced microtubes form an enclosed network with invariant acoustic transmission under macroscopic bending. By sparsely embedding microphones, the system achieves real-time localization (4 mm highest spatial resolution; >99% accuracy in a 4 microphones 64-node sensing array) and waveform reconstruction of low-frequency signals (<100 Hz). Fast Continuous Wavelet Transform and a lightweight neural network enable inference within 5.5 ms. We demonstrate conformable prototypes-fingertip arrays, a tactile glove, and large-area skins-detecting stimuli from single-hair contact to 5-mg particle impacts, arterial pulse waves, feather touches, and finger contact. This establishes a scalable, flexible, low-cost paradigm for next-generation human-machine interfaces.

cs.RO↗

arXiv2025

Asymptotically Optimal Lazy Lifelong Sampling-based Algorithm for Efficient Motion Planning in Dynamic Environments

The paper introduces an asymptotically optimal lifelong sampling-based path planning algorithm that combines the merits of lifelong planning algorithms and lazy search algorithms for rapid replanning in dynamic environments where edge evaluation is expensive. By evaluating only sub-path candidates for the optimal solution, the algorithm saves considerable evaluation time and thereby reduces the overall planning cost. It employs a novel informed rewiring cascade to efficiently repair the search tree when the underlying search graph changes. Theoretical analysis indicates that the proposed algorithm converges to the optimal solution as long as sufficient planning time is given. Planning results on robotic systems with $\mathbb{SE}(3)$ and $\mathbb{R}^7$ state spaces in challenging environments highlight the superior performance of the proposed algorithm over various state-of-the-art sampling-based planners in both static and dynamic motion planning tasks. The experiment of planning for a Turtlebot 4 operating in a dynamic environment with several moving pedestrians further verifies the feasibility and advantages of the proposed algorithm.

cs.RO↗

arXiv2025

Selective Densification for Rapid Motion Planning in High Dimensions with Narrow Passages

Sampling-based algorithms are widely used for motion planning in high-dimensional configuration spaces. However, due to low sampling efficiency, their performance often diminishes in complex configuration spaces with narrow corridors. Existing approaches address this issue using handcrafted or learned heuristics to guide sampling toward useful regions. Unfortunately, these strategies often lack generalizability to various problems or require extensive prior training. In this paper, we propose a simple yet efficient sampling-based planning framework along with its bidirectional version that overcomes these issues by integrating different levels of planning granularity. Our approach probes configuration spaces with uniform random samples at varying resolutions and explores these multi-resolution samples online with a bias towards sparse samples when traveling large free configuration spaces. By seamlessly transitioning between sparse and dense samples, our approach can navigate complex configuration spaces while maintaining planning speed and completeness. The simulation results demonstrate that our approach outperforms several state-of-the-art sampling-based planners in $\mathbb{SE}(2)$, $\mathbb{SE}(3)$, and $\mathbb{R}^{14}$ with challenging terrains. Furthermore, experiments conducted with the Franka Emika Panda robot operating in a constrained workspace provide additional evidence of the superiority of the proposed method.

cs.RO↗

arXiv2015

Analysis, Design and Testing of a Novel Quasi-Zero-Stiffness based Sensor System for Measurement of Absolute Vibration Motion

This study presents the analysis and design of a novel quasi-zero-stiffness (QZS) based vibration sensor system for measuring absolute displacement of vibrating platforms/objects. The sensor system is constructed by using positive and negative-stiffness springs, which makes it possible to achieve an equivalent QZS and consequently to create a broadband vibration-free point for absolute displacement measurement in vibrating platforms. Theoretic analysis is conducted for the analysis and design of the influence of structure parameters on system measurement performance. A prototype is designed which can avoid the drawback of instability in existing QZS systems with negative stiffness, and the corresponding data-processing software is developed to fulfill time domain and frequency domain measurements simultaneously. Both simulation and experiment results verify the effectiveness of this novel sensor system.

physics.ins-det↗