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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Cheng Shen

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2 papers indexed here

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Conference Aug 2026

Virtual-Energy Homotopy for Simultaneous Trajectory and Stiffness Co-Design in Flexible-Joint Robotic Arms

Flexible-joint arms are attractive for tasks that demand both precision and energy efficiency, such as collaborative assembly. However, enforcing exact terminal constraints in trajectory optimization often leads to illconditioned nonlinear programs. The difficulty grows when joint stiffness is treated as a decision var...

Lin-Feng Liu, Cheng Shen · 0 citations
Conference Aug 2026

Sensorless External Force Estimation for Robotic Arms via a Confidence-Aware Soft-Switching Hybrid Filter

Accurate and robust external force perception is a fundamental prerequisite for safe physical human-robot interaction in complex dynamic environments. While sensorless force estimation utilizing generalized momentum circumvents the spatial and economic constraints of dedicated hardware, existing single-model filtering...

Yi-Fan Ding, Chang-Long Ye, Cheng Shen et al. · 0 citations

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