Please refer to the following for related previous research. Feel free to contact us at contact@AncoraSpring.com and share your thoughts or feedback. We intend to bring this robot system to the research community in the upcoming months.

Latest Research

  1. Yuping Gu, Bangchao Huang, Haoran Sun, Ronghan Xu, Jiayi Yin, Wei Zhang, Fang Wan, Jia Pan, Chaoyang Song, One-DoF Robotic Design of Overconstrained Limbs with Energy-Efficient, Self-Collision-Free Motion, In: Fundamental Research, vol. 0, iss. 0, no. 0, pp. 0, 2025, (Accepted). (Abstract | Links | BibTeX)

Robotic Systems

  1. Haoran Sun, Shihao Feng, Bangchao Huang, Zishang Zhang, Ronghan Xu, Guojing Huang, Guangyi Huang, Jiayi Yin, Nuofan Qiu, Hua Chen, Wei Zhang, Jia Pan, Fang Wan, Chaoyang Song, Overconstrained Locomotion, International Symposium of Robotics Research (ISRR2024), Long Beach, California, USA, 2024, (Selected as the Collection of Best Papers Presented at ISRR2024). (Abstract | Links | BibTeX)
  2. Yenan Chen, Chuye Zhang, Pengxi Gu, Jianuo Qiu, Jiayi Yin, Nuofan Qiu, Guojing Huang, Bangchao Huang, Zishang Zhang, Hui Deng, Wei Zhang, Fang Wan, Chaoyang Song, 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, 2024. (Abstract | Links | BibTeX)
  3. Yuping Gu, Computational Design and Energy-Efficient Optimization of Overconstrained Robotic Limbs, Southern University of Science and Technology & The University of Hong Kong, 2024. (Abstract | BibTeX)
  4. Yuping Gu, Ziqian Wang, Shihao Feng, Haoran Sun, Haibo Lu, Jia Pan, Fang Wan, Chaoyang Song, Computational Design Towards Energy Efficient Optimization in Overconstrained Robotic Limbs, In: Journal of Computational Design and Engineering, vol. 10, iss. October, no. 5, pp. 1941–1956, 2023. (Editor’s Choice) (Abstract | Links | BibTeX)
  5. Haoran Sun, Linhan Yang, Yuping Gu, Jia Pan, Fang Wan, Chaoyang Song, Bridging Locomotion and Manipulation Using Reconfigurable Robotic Limbs via Reinforcement Learning, In: Biomimetics, vol. 8, no. 4, pp. 364, 2023. (Abstract | Links | BibTeX)
  6. Yuping Gu, Shihao Feng, Yuqin Guo, Fang Wan, Jiansheng Dai, Jia Pan, Chaoyang Song, Overconstrained Coaxial Design of Robotic Legs with Omni-directional Locomotion, In: Mechanism and Machine Theory, vol. 176, iss. October, pp. 105018, 2022. (Abstract | Links | BibTeX)
  7. Shihao Feng, Yuping Gu, Weijie Guo, Yuqin Guo, Fang Wan, Jia Pan, Chaoyang Song, An Overconstrained Robotic Leg with Coaxial Quasi-direct Drives for Omni-directional Ground Mobility, IEEE International Conference on Robotics and Automation (ICRA2021), Xi’an, China, 2021. (Abstract | Links | BibTeX)
  8. Chaoyang Song, Huijuan Feng, Yan Chen, I-Ming Chen, Rongjie Kang, Reconfigurable Mechanism Generated from the Network of Bennett Linkages, In: Mechanism and Machine Theory, vol. 88, iss. June, pp. 49-62, 2015. (Abstract | Links | BibTeX)
  9. Chaoyang Song, The Design and Learning of Overconstrained Mechanisms towards Overconstrained Robotics, Mechanism and Machine Theory Symposium, Guimarães, Portugal, 2024, (Extended Abstract accepted to Mechanism and Machine Theory Symposium). (Abstract | Links | BibTeX)

Theoretical Foundations

  1. Chaoyang Song, Yan Chen, I-Ming Chen, Kinematic Study of the Original and Revised General Line-Symmetric Bricard 6R Linkages, In: Journal of Mechanisms and Robotics, vol. 6, iss. August, no. 3, pp. 031002, 2014. (Abstract | Links | BibTeX)
  2. Chaoyang Song, Yan Chen, I-Ming Chen, A 6R Linkage Reconfigurable between the Line-Symmetric Bricard Linkage and the Bennett Linkage, In: Mechanism and Machine Theory, vol. 70, iss. December, pp. 278-292, 2013. (Abstract | Links | BibTeX)
  3. Chaoyang Song, Yan Chen, I-Ming Chen, Bifurcation Behavior of the Line-Symmetric Bricard Linkage without Offsets, IFToMM International Symposium on Robotics and Mechatronics (ISRM2013), Singapore, 2013. (Links | BibTeX)
  4. Chaoyang Song, Yan Chen, Multiple Linkage Forms and Bifurcation Behaviours of the Double-Subtractive-Goldberg 6R Linkage, In: Mechanism and Machine Theory, vol. 57, iss. November, pp. 95-110, 2012. (Abstract | Links | BibTeX)
  5. Chaoyang Song, Yan Chen, A Family of Mixed Double-Goldberg 6R Linkages, In: Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, vol. 468, no. 2139, pp. 871-890, 2012. (Abstract | Links | BibTeX)
  6. Chaoyang Song, Yan Chen, 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 (ReMAR2012), Tianjin, China, 2012. (Links | BibTeX)
  7. Chaoyang Song, Yan Chen, A Spatial 6R Linkage Derived from Subtractive Goldberg 5R Linkages, In: Mechanism and Machine Theory, vol. 46, iss. August, no. 8, pp. 1097-1106, 2011. (Abstract | Links | BibTeX)
  8. Chaoyang Song, Yan Chen, The Original Double-Goldberg 6R Linkage and its Bifurcation Analysis, IFToMM International Symposium on Multibody Systems and Mechatronics (MuSME2011), Valencia, Spain, 2011. (Links | BibTeX)
  9. Chaoyang Song, Kinematic Study of Overconstrained Linkages and Design of Reconfigurable Mechanisms, Nanyang Technological University, 2013. (Abstract | Links | BibTeX)