Submitted Papers, ArXiv PrePrints & Working Papers

12. (2024)-J-LifeLongLearning-SimWeld | PDF | ArXiv | Video1

• Yujian Dong, Tianyu Wu, and Chaoyang Song*
• “Optimizing Robotic Manipulation with Decision-RWKV: A Recurrent Sequence Modeling Approach for Lifelong Learning.”
• Journal of Computing and Information Science in Engineering (Special Issue on Large Language Models In Design And Manufacturing). (Under Review)

11. (2024)-J-VirPhyProto-SimWeld | PDF | ArXiv

• He Wang, Xiaobo Liu, Jiansheng Dai, Chaoyang Song, and Fang Wan*.
• “ADAP: Adaptive & Dynamic Arc Padding for Predicting Seam Profiles in Multi-Layer-Multi-Pass Robotic Welding.”
• Materials & Design. (Under Review)

10. (2024)-J-XXXXX-XXXXX | PDF | ArXiv | Video

9. (2023)-J-TRO-AmphiTactile | PDF | ArXiv | Video1 | Video2 | Video3

• Ning Guo#, Xudong Han#, Shuqiao Zhong#, Zhiyuan Zhou, Jian Lin, Jiansheng Dai, Fang Wan*, and Chaoyang Song*.
• “Proprioceptive State Estimation for Amphibious Tactile Sensing.”
• IEEE Transactions on Robotics. (Under Review for Special Issue on Tactile Robotics, 1st Round Review Replied)

8. (2023)-J-SoRo-SeeThruFinger | PDF | ArXiv | Video1

• Fang Wan, and Chaoyang Song*.
• “SeeThruFinger: See and Grasp Anything with a Soft Touch.”
• Soft Robotics. (Under Review, 1st Round Review Replied)

7. (2024)-J-SensorsJ-FlangeCalibWeld | PDF | ArXiv | Video1

• Ning Guo, Xudong Han, Fang Wan*, and Chaoyang Song*.
• “Flange-based Calibration with 3D Vision for Robotic Welding.”
• IEEE Sensors Journal. (Under Review)

6. (2024)-C-XXXXX-XXXXX | PDF | ArXiv | Video1

5. (2024)-C-XXXXX-XXXXX | PDF | ArXiv | Video1

4. (2023)-A-ArXiv-OverconstrainedQuadruped | PDF | ArXiv

• Ronghan Xu#, Jiayi Yin#, Shihao Feng#, Bangchao Huang, Haoran Sun, Jia Pan, Fang Wan*, and Chaoyang Song*.
• “Overconstrained Robotic Limb with Energy-Efficient, Omni-directional Locomotion.”
• arXiv:2310.09824 [cs.RO]

3. (2021)-A-ArXiv-ProprioceptiveLinearLegs | PDF | ArXiv

• Bingchen Jin, Yueheng Zhou, Ye Zhao, Ming Liu, Chaoyang Song, Jianwen Luo.
• “An Adaptive Control Algorithm for Quadruped Locomotion with Proprioceptive Linear Legs.”
• arXiv:2107.12482 [cs.RO]

2. (2020)-A-ArXiv-SuperLimbOverHead | PDF | ArXiv

• Jianwen Luo, Sicong Liu, Chengyu Lin, Yong Zhou, Zixuan Fan, Zheng Wang, Chaoyang Song, H. Harry Asada, Chenglong Fu.
• “Mapping Human Muscle Force to Supernumerary Robotics Device for Overhead Task Assistance.”
• arXiv:2107.13799 [cs.RO]
• IEEE/ASME AIM 2020 Workshop on Supernumerary Robotic Devices

1. (2024)-W-JoD-AutomatedDentalDesign | PDF | ArXiv | Video1

• Chengxiao Dong#, Yu Pan#, Xuanyi Dai, Edmond Pow, Fang Wan*, and Chaoyang Song*.
• “Efficient and Accurate Robotic Process Automation for Complete Edentulous Patients.”
• Computers in Biology and Medicine. (Working)

Journal Articles

10. (2024)-J-AIS-VisualPropModel | PDF | ArXiv | Video1 | Video2 | Video3 | Video4 | Video5

• Ning Guo, Xudong Han, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Fang Wan*, and Chaoyang Song* (2024). “Reconstructing Soft Robotic Touch via In-Finger Vision.” Advanced Intelligent Systems.
• doi: To-Be-Updated (Accepted)

34. (2024)-J-IJRR-SoftProprioceptiveLearning | PDF | ArXiv | Video1 | Video2 | Video3 | Video4 | Video5

• Xiaobo Liu#, Xudong Han#, Wei Hong, Fang Wan*, and Chaoyang Song* (2024). “Proprioceptive Learning with Soft Polyhedral Networks.” The International Journal of Robotics Research (OnlineFirst).
• doi: https://doi.org/10.1177/02783649241238765

33. (2024)-J-MatDes-SoftInterface | PDF | ArXiv | GitHub | Video1

• Tianyu Wu#, Yujian Dong#, Xiaobo Liu#, Xudong Han, Yang Xiao, Jinqi Wei, Fang Wan*, and Chaoyang Song* (2024). “Vision-based Tactile Intelligence with Soft Robotic Metamaterial.” Materials & Design, 238(February):112629.
• doi: https://doi.org/10.1016/j.matdes.2024.112629

32. (2024)-J-AIS-AutoencodeSoftTouch | PDF | ArXiv | Video1 | Video2 | Video3 | Video4 | Video5 | Video6

• Ning Guo, Xudong Han, Xiaobo Liu, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Jiansheng Dai, Fang Wan*, and Chaoyang Song* (2024). “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 for the January 2024 issue.

31. (2023)-J-JoDent-CompleteArchy | PDF

• Yu Pan, Xuanyi Dai, Fang Wan, Chaoyang Song, James KH Tsoi, Edmond HN Pow* (2023). “A Novel Post-Processing Strategy to Improve the Accuracy of Complete-Arch Intraoral Scanning for Implants: An In Vitro Study.” Journal of Dentistry, 139(December):104761.
• doi: https://doi.org/10.1016/j.jdent.2023.104761

30. (2023)-J-Biomimetics-PropSkinTouch | PDF | ArXiv | Video1

• Xiaobo Liu, Xudong Han, Ning Guo, Fang Wan*, and Chaoyang Song* (2023). “Bio-inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception.” Biomimetics, 8(6):501.
• doi: https://doi.org/10.3390/biomimetics8060501

29. (2023)-J-JCDE-OCLimbDesign | PDF | Video1

• Yuping Gu, Ziqian Wang, Shihao Feng, Haoran Sun, Haibo Lu, Jia Pan*, Fang Wan*, and Chaoyang Song* (2023). “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.

28. (2023)-J-Biomimetics-LocoManipulation | PDF | Video1

• Haoran Sun#, Linhan Yang#, Yuping Gu, Jia Pan*, Fang Wan*, and Chaoyang Song* (2023). “Bridging Locomotion and Manipulation Using Reconfigurable Robotic Limbs via Reinforcement Learning.” Biomimetics, 8(4):364.
• doi: https://doi.org/10.3390/biomimetics8040364

27. (2023)-J-AIS-UnderwaterSuperlimb | PDF | Video1

• Jiayu Huo#, Jingran Wang#, Yuqin Guo, Wanghongjie Qiu, Mingdong Chen, Harry Asada, Fang Wan*, and Chaoyang Song* (2023). “Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance.” Advanced Intelligent Systems, 5(11):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.

26. (2023)-J-RAL-TacGNN | PDF | Video1

• Linhan Yang, Bidan Huang*, Qingbiao Li, Ya-Yen Tsai, Wang Wei Lee, Chaoyang Song, and Jia Pan (2023). “TacGNN: Learning Tactile-based In-hand Manipulation with a Blind Robot using Hierarchical Graph Neural Network.” IEEE Robotics and Automation Letters, 8(6):3605-3612.
• doi: https://doi.org/10.1109/LRA.2023.3264759

25. (2023)-J-Robotica-MagneticLocalization | PDF | Video1

• You Li, Zhuokang Huang, Xiaobo Liu, Yu Jie, Chaoyang Song, and Chengzhi Hu* (2023). “Calibrated Analytical Model for Magnetic Localization of Wireless Capsule Endoscope based on Onboard Sensing.” Robotica, 41(5):1500-1514.
• doi: https://doi.org/10.1017/S0263574722001849

24. (2023)-J-TRO-RetrievalPlanning | PDF | Video1

• Hao Tian, Chaoyang Song, Changbo Wang, Xinyu Zhang, and Jia Pan* (2023). “Sampling-Based Planning for Retrieving Near-Cylindrical Objects in Cluttered Scenes Using Hierarchical Graphs,” IEEE Transactions on Robotics, 39(1):165-182, 2023.
• doi: https://doi.org/10.1109/TRO.2022.3191596

23. (2022)-J-MMT-BennettRoboticLeg | PDF | Video1

• Yuping Gu, Shihao Feng, Yuqin Guo, Fang Wan, Jian S. Dai, Jia Pan, and Chaoyang Song* (2022). “Overconstrained Coaxial Design of Robotic Legs with Omni-directional Locomotion.” Mechanism and Machine Theory, 176(10):105018.
• doi: https://doi.org/10.1016/j.mechmachtheory.2022.105018

22. (2022)-J-TEM-Crowdfunding | PDF | ArXiv

• Chaoyang Song*, Jianxi Luo, Katja Hölttä-Otto, Warren Seering, and Kevin Otto (2022). “Crowdfunding for Design Innovation: Prediction Model with Critical Factors.” IEEE Transactions on Engineering Management, 69(4):1565-1576.
• doi: https://doi.org/10.1109/tem.2020.3001764

21. (2022)-J-RAL-TactileSkin | PDF | Video1

• Youcan Yan, Yajing Shen, Chaoyang Song, and Jia Pan* (2022). “Tactile Super-Resolution Model for Soft Magnetic Skin.” IEEE Robotics and Automation Letters, 7(2):2589-2596.
• doi: https://doi.org/10.1109/LRA.2022.3141449

20. (2022)-J-FROBT-DeepClaw2.0 | PDF | Video1

• Haokun Wang#, Xiaobo Liu#, Nuofan Qiu, Ning Guo, Fang Wan, and Chaoyang Song* (2022). “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

19. (2021)-J-RAL-VESA | PDF | Video1

• Baiyue Wang, Weijie Guo, Shihao Feng, Hongdong Yi, Fang Wan, and Chaoyang Song* (2021). “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

18. (2021)-J-RAL-OptoSensingFinger | PDF | Video1

• Linhan Yang, Xudong Han, Weijie Guo, Fang Wan, Jia Pan, and Chaoyang Song* (2021). “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

17. (2021)-J-SciRob-SoftMagneticSkin | PDF | Video1 | Video2 | Video3 | Video4 | Video5

• Youcan Yan, Zhe Hu, Zhengbao Yang, Wenzhen Yuan, Chaoyang Song, Jia Pan*, and Yajing Shen* (2021). “Soft Magnetic Skin for Super-Resolution Tactile Sensing with Force Self-Decoupling.” Science Robotics, 6(51):eabc8801.
• doi: https://doi.org/10.1126/scirobotics.abc8801

16. (2021)-J-TMech-OtariidaeSuperlimb | PDF | Video1

• Sicong Liu, Yuming Zhu, Zicong Zhang, Zhonggui Fang, Jiyong Tan, Jing Peng, Chaoyang Song, Harry Asada, and Zheng Wang* (2021). “Otariidae-inspired Soft-robotic Supernumerary Flippers by Fabric Kirigami and Origami.” IEEE/ASME Transactions on Mechatronics, 26(5):2747-2757.
• doi: https://doi.org/10.1109/TMECH.2020.3045476

15. (2021)-J-FROBT-LobsterFingerSurface | PDF | Video1

• Haiyang Jiang, Xudong Han, Yonglin Jing, Ning Guo, Fang Wan and Chaoyang Song* (2021). “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)-J-RAL-OmniGripper | PDF | Video1

• Fang Wan#, Haokun Wang#, Jiyuan Wu, Yujia Liu, Sheng Ge, and Chaoyang Song* (2020). “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

13. (2020)-J-RAL-InteractiveLearning | PDF | Video1

• Linhan Yang, Fang Wan, Haokun Wang, Xiaobo Liu, Yujia Liu, Jia Pan, and Chaoyang Song* (2020). “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

12. (2020)-J-FROBT-FlangeCalibration | PDF | Video1

• Fang Wan and Chaoyang Song* (2020). “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

11. (2019)-J-TRO-OrigamiJoint | PDF | Video1

• Juan Yi, Xiaojiao Chen, Chaoyang Song, Jianshu Zhou, Yujia Liu, Sicong Liu, and Zheng Wang* (2019). “Customizable Three-Dimensional-Printed Origami Soft Robotic Joint with Effective Behavior Shaping for Safe Interactions.” IEEE Transactions on Robotics, 35(1):114-123.
• doi: https://doi.org/10.1109/tro.2018.2871440

10. (2018)-J-SoRo-FORA | PDF | Video1

• Juan Yi, Xiaojiao Chen, Chaoyang Song, and Zheng Wang* (2018). “Fiber-Reinforced Origamic Robotic Actuator.” Soft Robotics, 5(1):81-92.
• doi: https://doi.org/10.1089/soro.2016.0079

9. (2018)-J-JMD-InnovationCharacteristics | PDF

• Katja Hölttä-Otto*, Kevin Otto, Chaoyang Song, Jianxi Luo, Timothy Li, Carolyn C. Seepersad, Warren Seering (2018). “The Characteristics of Innovative, Mechanical Products—10 Years Later.” Journal of Mechanical Design, 140(8):084501.
• doi: https://doi.org/10.1115/1.4039851

8. (2018)-J-FROBT-LogicalLearning | PDF | ArXiv

• Fang Wan and Chaoyang Song* (2018). “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

7. (2017)-J-JMM-HybridActuator | PDF

• Yaohui Chen, Fang Wan, Tong Wu, and Chaoyang Song* (2017). “Soft-rigid Interaction Mechanism towards a Lobster-inspired Hybrid Actuator.” Journal of Micromechanics and Microengineering, 28(1):014007.
• doi: https://doi.org/10.1088/1361-6439/aa9e25

6. (2015)-J-MMT-BennettNetwork | PDF

• Chaoyang Song, Huijuan Feng, Yan Chen*, I-Ming Chen, and Rongjie Kang (2015). “Reconfigurable Mechanism Generated from the Network of Bennett Linkages.” Mechanism and Machine Theory, 88:49-62.
• doi: https://doi.org/10.1016/j.mechmachtheory.2015.02.003

5. (2014)-J-JMR-BricardKinematics | PDF

• Chaoyang Song, Yan Chen*, and I-Ming Chen (2014). “Kinematic Study of the Original and Revised General Line-Symmetric Bricard 6R Linkages.” Journal of Mechanisms and Robotics, 6(3):031002.
• doi: https://doi.org/10.1115/1.4026339

4. (2013)-J-MMT-BricardBennett | PDF

• Chaoyang Song, Yan Chen*, and I-Ming Chen (2013). “A 6R Linkage Reconfigurable between the Line-Symmetric Bricard Linkage and the Bennett Linkage.” Mechanism and Machine Theory, 70:278-292.
• doi: https://doi.org/10.1016/j.mechmachtheory.2013.07.013

3. (2012)-J-MMT-DoubleSubtractiveGoldberg | PDF

• Chaoyang Song and Yan Chen* (2012). “Multiple Linkage Forms and Bifurcation Behaviours of the Double-subtractive-Goldberg 6R Linkage.” Mechanism and Machine Theory, 57:95-110.
• doi: https://doi.org/10.1016/j.mechmachtheory.2012.07.002

2. (2011)-J-RoyalSocietyA-MixedDoubleGoldberg | PDF

• Chaoyang Song and Yan Chen* (2011). “A Family of Mixed Double-Goldberg 6R Linkages.” Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 468(2139):871-890.
• doi: https://doi.org/10.1098/rspa.2011.0345

1. (2011)-J-MMT-DoubleSubtractiveGoldberg | PDF

• Chaoyang Song and Yan Chen* (2011). “A Spatial 6R Linkage Derived from Subtractive Goldberg 5R Linkages.” Mechanism and Machine Theory, 46(8):1097-1106.
• doi: https://doi.org/10.1016/j.mechmachtheory.2011.03.006

Conference Papers

34. (2024)-C-MMTSymposium-OverconstrainedRobotics | PDF | ArXiv

• Chaoyang Song* (2024). “The Design and Learning of Overconstrained Mechanisms towards Overconstrained Robotics.” Mechanism and Machine Theory Symposium.
• doi: To-Be-Updated (Accepted)

33. (2024)-C-ICARM2024-ACDC4Robot | PDF | ArXiv | Video1

• Nuofan Qiu, Fang Wan*, and Chaoyang Song* (2024). “Describing Robots from Design to Learning: Towards an Interactive Lifecycle Representation of Robots.” IEEE International Conference on Advanced Robotics and Mechatronics (ICARM2024). Tokyo, Japan, 8-10 July 2024.
• doi: To-Be-Updated (Accepted)

32. (2024)-C-ICARM2024-SoftRoboticTongs | PDF | ArXiv | GitHub | Video1

• Tianyu Wu#, Yujian Dong#, Yang Xiao, Jinqi Wei, Fang Wan*, and Chaoyang Song* (2024). “Vision-based, Low-cost, Soft Robotic Tongs for Shareable and Reproducible Tactile Learning.” IEEE International Conference on Advanced Robotics and Mechatronics (ICARM2024). Tokyo, Japan, 8-10 July 2024.
• doi: To-Be-Updated (Accepted)

31. (2024)-C-ReMAR2024-BennettWheelLegRL | PDF | ArXiv | Video1

• 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* (2024). “Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning.” IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2024). Chicago, USA, 24-27 June 2024.
• doi: To-Be-Updated (Accepted)

30. (2024)-C-ReMAR2024-InFingerSoftManip | PDF | ArXiv | Video1

• Sen Li, Fang Wan*, and Chaoyang Song* (2024). “Active Surface with Passive Omni-Directional Adaptation for In-Hand Manipulation.” IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2024). Chicago, USA, 24-27 June 2024.
• doi: To-Be-Updated (Accepted)

29. (2023)-C-CASE-ThroatHead | PDF | ArXiv | Video1

• Yuqin Guo#, Rongzheng Zhang#, Wanghongjie Qiu, Harry Asada, Fang Wan* and Chaoyang Song* (2023). “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, 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

28. (2023)-C-IROS-TacGNN | PDF

• Linhan Yang, Bidan Huang*, Qingbiao Li, Ya-Yen Tsai, Wang Wei Lee, Chaoyang Song, and Jia Pan (2023). “TacGNN: Learning Tactile-Based In-Hand Manipulation with a Blind Robot Using Hierarchical Graph Neural Network.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Huntington Place, Detroit, Michigan, USA, 1-5 October 2023.
• Dual-track Submission with RAL: 26. (2023)-J-RAL-TacGNN

27. (2023)-C-ICDL-TactileMap | PDF | ArXiv

• Xudong Han, Sheng Liu, Fang Wan* and Chaoyang Song* (2023). “Vision-based Tactile Sensing for an Omni-adaptive Soft Finger.” IEEE International Conference on Development and Learning (ICDL). Macau, China, 9-11 November 2023.
• doi: https://doi.org/10.1109/ICDL55364.2023.10364455

26. (2023)-C-ICARM-JigsawLearning | PDF | ArXiv | Video1

• Xiaobo Liu#, Fang Wan#*, Sheng Ge, Haokun Wang, Haoran Sun, and Chaoyang Song (2023). “Jigsaw-based Benchmarking for Learning Robotic Manipulation.” 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

25. (2022)-C-ICRA-TactileSkin | PDF | ArXiv

• Youcan Yan, Yajing Shen, Chaoyang Song, and Jia Pan* (2022). “Tactile Super-Resolution Model for Soft Magnetic Skin.” IEEE International Conference on Robotics and Automation (ICRA). Philadelphia (PA), USA, 23-27 May 2022.
• Dual-track Submission with RAL: 21. (2022)-J-RAL-TactileSkin

24. (2022)-C-IDETC-SoftWearableElbow | PDF | Video1

• Juan Yi, Xiaojiao Chen, Zhonggui Fang, Yujia Liu, Dehao Duanmu, Yinyin Su, Chaoyang Song, Sicong Liu, Zheng Wang* (2022). “A Soft Wearable Elbow Skeleton for Safe Motion Assistance by Variable Stiffness.” Proceedings of the ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (DETC/CIE). Volume 7: 46th Mechanisms and Robotics Conference. Cleveland, Ohio, USA. 14-17 August 2022. V007T07A052. Paper No: DETC2022-90320.
• doi: https://doi.org/10.1115/DETC2022-90320

23. (2022)-C-CoRL-VisualForceLearning | PDF | Video1

• Fang Wan, Xiaobo Liu, Ning Guo, Xudong Han, Feng Tian, and Chaoyang Song* (2021). “Visual Learning Towards Soft Robot Force Control using a 3D Metamaterial with Differential Stiffness.” Proceedings of the 5th Conference on Robot Learning (CoRL), PMLR 164:1269-1278, 2022.
• URL: https://proceedings.mlr.press/v164/wan22a

22. (2021)-C-RoboSoft-VESA | PDF

• Weijie Guo, Baiyue Wang, Shihao Feng, Hongdong Yi, Fang Wan, and Chaoyang Song* (2021). “Volumetrically Enhanced Soft Actuator with Proprioceptive Sensing.” IEEE International Conference on Soft Robotics (RoboSoft). New Haven, CT, USA, 12-16 April 2021. 
• Dual-track Submission with RAL: 19. (2021)-J-RAL-VESA

21. (2021)-C-RoboSoft-LobsterSurface | PDF | Video1

• Haiyang Jiang, Yonglin Jing, Ning Guo, Weijie Guo, Fang Wan, and Chaoyang Song* (2021). “Lobster-inspired Finger Surface Design for Grasping with Enhanced Robustness,” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 12-16 April 2021, pp. 321-326.
• doi: https://doi.org/10.1109/RoboSoft51838.2021.9479215

20. (2021)-C-ICRA-OverconstrainedLeg | PDF | Video1

• Shihao Feng, Yuping Gu, Weijie Guo, Yuqin Guo, Fang Wan, Jia Pan, and Chaoyang Song* (2021). “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, 30 May-5 June 2021, pp. 11477-11484.
• doi: https://doi.org/10.1109/ICRA48506.2021.9561829

19. (2021)-C-ICRA-OptoSensingFinger | PDF | ArXiv

• Linhan Yang, Xudong Han, Weijie Guo, Fang Wan, Jia Pan, and Chaoyang Song* (2021). “Learning-based Optoelectronically Innervated Tactile Finger for Rigid- Soft Interactive Grasping.” IEEE International Conference on Robotics and Automation (ICRA). Xi’an, China, 30 May-5 June 2021.
• Dual-track Submission with RAL: 18. (2021)-J-RAL-OptoSensingFinger

18. (2020)-C-ICRA-InteractiveLearning | PDF | ArXiv

• Linhan Yang, Fang Wan, Haokun Wang, Xiaobo Liu, Yujia Liu, Jia Pan, and Chaoyang Song* (2020). “Rigid-Soft Interactive Learning for Robust Grasping.” IEEE International Conference on Robotics and Automation (ICRA). Paris, France, 31 May-31 August 2020.
• Dual-track Submission with RAL: 13. (2020)-J-RAL-InteractiveLearning

17. (2020)-C-RoboSoft-OmniFinger | PDF | ArXiv | Video1

• Zeyi Yang, Sheng Ge, Fang Wan, Yujia Liu, and Chaoyang Song* (2020). “Scalable Tactile Sensing for an Omni-adaptive Soft Robot Finger.” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 15 May-15 July 2020, pp. 572-577.
• doi: https://doi.org/10.1109/robosoft48309.2020.9116026

16. (2020)-C-RoboSoft-SuperCane | PDF | ArXiv | Video1

• Xia Wu, Haiyuan Liu, Ziqi Liu, Mingdong Chen, Fang Wan, Chenglong Fu, Harry Asada, Zheng Wang, and Chaoyang Song* (2020). “Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance.” IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 15 May-15 July 2020, pp. 599-606.
• doi: https://doi.org/10.1109/robosoft48309.2020.9116028

15. (2020)-C-AIM-DeepClaw | PDF | ArXiv | Video1

• Fang Wan, Haokun Wang, Xiaobo Liu, Linhan Yang, and Chaoyang Song* (2020). “DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation.” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, 6-10 July 2020, pp. 2011-2018.
• doi: https://doi.org/10.1109/aim43001.2020.9159011

14 (2020)-C-RoboSoft-OmniGripper | PDF | ArXiv

• Fang Wan, Haokun Wang, Jiyuan Wu, Yujia Liu, Sheng Ge, and Chaoyang Song* (2020). “Reconfigurable Design for Omni-adaptive Grasp Learning.” IEEE International Conference on Soft Robotics (RoboSoft). New Haven, CT, USA, 15 May-15 July 2020.
• Dual-track Submission with RAL: 14. (2020)-J-RAL-OmniGripper

13. (2019)-C-RCAR-SoftAnkle | PDF | Video1

• Xinyao Hu*, Chuang Luo, Hao Li, Liyao Jia, Chaoyang Song, Zheng Wang, and Xingda Qu (2019). “An Ankle Based Soft Active Orthotic Device Powered by Pneumatic Artificial Muscle.” IEEE International Conference on Real-time Computing and Robotics (RCAR), Irkutsk, Russia, 4-9 August 2019, pp. 374-378.
• doi: https://doi.org/10.1109/RCAR47638.2019.9043948

12. (2018)-C-RCAR-AcrobotDynamics | PDF | Video1

• Xiaojiao Chen, Tommy Hu, Chaoyang Song, and Zheng Wang* (2018). “Analytical Solution to Global Dynamic Balance Control of the Acrobot.” IEEE International Conference on Real-time Computing and Robotics (RCAR), Kandima, Maldives, 1-5 August 2018, pp. 405-410.
• doi: https://doi.org/10.1109/rcar.2018.8621827

11. (2017)-C-ICRA-LobsterActuator | PDF | ArXiv | Video1

• Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, Fang Wan, and Chaoyang Song* (2017). “A Reconfigurable Hybrid Actuator with Rigid and Soft Components.” IEEE International Conference on Robotics and Automation (ICRA), Marina Bay Sands, Singapore, 29 May-3 June 2017, pp. 58-63.
• doi: https://doi.org/10.1109/icra.2017.7988691

10. (2017)-C-ICRA-LobsterGlove | PDF | ArXiv | Video1

• Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, Fang Wan, and Chaoyang Song* (2017). “A Lobster-inspired Robotic Glove for Hand Rehabilitation.” IEEE International Conference on Robotics and Automation (ICRA), Marina Bay Sands, Singapore, 29 May-3 June 2017, pp. 111-116.
• doi: https://doi.org/10.1109/icra.2017.7989556

9. (2017)-C-ROBIO-GaitWearable | PDF | ArXiv

• Fang Wan, Zheng Wang, Brooke Franchuk, Xinyao Hu, Zhenglong Sun, and Chaoyang Song* (2017). “Hybrid Actuator Design for a Gait Augmentation Wearable.” IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, Macao, 5-8 December 2017, pp. 2298-2302.
• doi: https://doi.org/10.1109/robio.2017.8324761

8. (2017)-C-IDETC-LobsterMechanics | PDF | ArXiv

• Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, and Chaoyang Song* (2017). “A Lobster-Inspired Hybrid Actuator with Rigid and Soft Components.” Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (DETC/CIE). Volume 5B: 41st Mechanisms and Robotics Conference. Cleveland, Ohio, USA. 6-9 August 2017. V05BT08A023.
• doi: https://doi.org/10.1115/detc2017-68082

7. (2016)-C-RCAR-SoftGlove | PDF

• Juan Yi, Zhong Shen, Chaoyang Song, and Zheng Wang* (2016). “A Soft Robotic Glove for Hand Motion Assistance.” IEEE International Conference on Real-time Computing and Robotics (RCAR), Angkor Wat, Cambodia, 6-10 June 2016, pp. 111-116.
• doi: https://doi.org/10.1109/rcar.2016.7784010
• Award: Best Conference Paper Award Finalist | About RCAR

6. (2015)-C-IDETC-CrowdFundedDesign | PDF

• Chaoyang Song*, Jianxi Luo, Katja Hölttä-Otto, Kevin Otto, Warren Seering (2015). “The Design of Crowd-Funded Products.” Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (DETC/CIE). Volume 7: 27th International Conference on Design Theory and Methodology. Boston, Massachusetts, USA. 2-5 August 2015. V007T06A040.
• doi: https://doi.org/10.1115/detc2015-46917

5. (2015)-C-ICED-RiskInnovation | PDF

• Chaoyang Song*, Jianxi Luo, Katja Hölttä-Otto, Kevin Otto, and Warren Seering (2015). “Risk and Innovation Balance in Crowdfunding New Products.” International Conference on Engineering Design (ICED), Vol 8: Innovation and Creativity, Milan, Italy, 27-30 July 2015.
• url: https://www.designsociety.org/publication/37919/risk+and+innovation+balance+in+crowdfunding+new+products
• Award: ICED Reviewers’ Favorites Award | About Design Society and ICED

4. (2014)-C-AoM-InnovationDifference | PDF

• Chaoyang Song*, Jianxi Luo, Katja Hölttä-Otto, and Kevin Otto (2014). “Product Innovation Differences between New Ventures and Incumbent Firms.” Annual Meeting of the Academy of Management (AoM). Philadelphia, PA, USA, 1-5 August 2014.
• doi: https://doi.org/10.5465/ambpp.2014.13204abstract

3. (2013)-C-ISRM-BricardBifurcation | PDF

• Chaoyang Song, Yan Chen*, and I-Ming Chen (2013). “Bifurcation Behavior of the Line-Symmetric Bricard Linkage without Offsets.” IFToMM International Symposium on Robotics and Mechatronics (ISRM), Singapore, 2-4 October 2013.
• doi: https://doi.org/10.3850/978-981-07-7744-9_064

2. (2012)-C-ReMAR-SpecialWohlhart | PDF

• Chaoyang Song and Yan Chen* (2012). “A Special Wohlharts Double-Goldberg 6R Linkage and Its Multiple Operation Forms among 4R and 6R Linkages.” ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots (ReMAR). Tianjin, China, 9-11 July 2012, 1:168999.
• doi: https://doi.org/10.1007/978-1-4471-4141-9_5
• Award: Young Delegate Travel Grant | About IFToMM and ReMAR

1. (2011)-C-MuSME-GoldbergBifurcation | PDF

• Chaoyang Song and Yan Chen* (2011). “The Original Double-Goldberg 6R Linkage and its Bifurcation Analysis.” IFToMM International Symposium on Multibody Systems and Mechatronics (MuSME). Valencia, Spain, 25-28 October 2011, 50922.
• doi: https://doi.org/10.13140/2.1.2041.3764

Invited Presentations

(2020) – T – SAIIA – RobotLearning | PDF
Song Chaoyang, Robot Learning and Design Intelligence, Shenzhen, SAIIA.
Source: https://mp.weixin.qq.com/s/HNXW4BfnuElt5eS8_Il_mA

(2019) – T – IROS – SuperCane | PDF
Song Chaoyang, Robotic Cane as an Ambient Super-Limb for Assistive Elderly Motion Transition, 2019 IROS Workshop on Supernumerary Robotic Limb.
Source: https://darbelofflab.mit.edu/2019-iros-workshop/

(2019) – T – WisdomPark – DesignScience | PDF
Song Chaoyang, Design Science for Advanced Robotics, Public Presentation at the Wisdom Park.

(2019) – T – CobotSys – CobotLearning | PDF
Song Chaoyang, Collaborative Robot Learning, 全国高校人工智能与智能制造教学研讨会
Source: https://www.cobotsys.com/newsinfo/1777207.html

(2019) – T – ICRA – JigsawBenchmarking | PDF
Xiaobo Liu, Fang Wan, Haoran Sun, Qichen Luo, Wei Zhang and Chaoyang Song*, Jigsaw-based Benchmarking for Learning Robotic Manipulation, 2019 ICRA Workshop on Benchmarks for Robotic Manipulation.
Source: https://www.ycbbenchmarks.com/ICRA2019_workshop

(2015) – T – Monash | PDF
Song Chaoyang, From Linkage Kinematics to Crowdfunding Entrepreneurship – Perfect Designs in an Imperfect World, Monash University, June 11.

(2014) – T – INFORMS – CrowdfundingDesign | PDF
Song Chaoyang, Luo Jianxi, Katja Hölttä-Otto, Kevin Otto & Warren Seering, Critical Factors about the Crowdfunding Success of Consumer Electronics – Empirical Testing with 3D Printers and Smart Watches on Kickstarter and Indiegogo, Institute for Operations Research and the Management Sciences Annual Meeting (INFORMS 2014), San Francisco, California, USA, November 09 – 12. (Invited Conference Presentation).

(2014) – T – MIT – CrowdfundingDesign | PDF
Song Chaoyang, How to Get Crowdfunded, Design Seminar at the Department of Mechanical Engineering, Massachusetts Institute of Technology, September 24.

(2013) – T – SUTD – DesignInnovation | PDF
Song Chaoyang, Successful Balance of Innovation and Risk in New Ventures and Mature Companies, Research Meeting for the International Design Center, Singapore University of Technology and Design, October 16.

Doctoral Thesis