Zhiguang Xing

Mode-Dependent Differential-Algebraic Kinematic Modeling of a Four-Wheel Wall-Climbing Robot on Cylindrical Inner Surfaces

Multi-wheel wall-climbing robots operating on cylindrical inner surfaces are subject to configuration-dependent wheel-surface contacts and nonholonomic rolling constraints, making planar differential-drive or fixed-contact kinematic models insufficient when the active contact top...

Adaptive Soft Robot for Complex Multiple Scenes: Navigating Pipelines, Valves, and Pressure Vessels

ABSTRACT Pipelines, valves, and pressure vessels (PVs) are vital components in nuclear, thermal power, and chemical systems, operating under high temperature and pressure over extended periods, leading to safety risks. Ensuring their safe operation requires regular inspections, w...