Author

Chu-Han Zhang

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Open access Sep 2026

A Magnetic‐Driven Self‐Rotation‐Stabilized Miniature Swimming Robot

ABSTRACT Miniature swimming robots (MSRs) are crucial in fields like environmental science, industry, and healthcare, especially in accessing narrow underwater spaces. However, current disturbances and undercurrents in real waters can severely disrupt the trajectory and stability of the MSRs, preventing them from effec...

Fu-Jun Wang, Chu-Han Zhang, Hao Zhang et al. · Advancement of science · 0 citations

#robotics Preprint Aug 2026

SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models

SoRoMoX (Soft Robot Models in JAX), a fully numerical, JIT-compilable Python/JAX framework that runs directly on GPUs, is end-to-end differentiable with respect to states, inputs, and parameters, and is the first rod/strain-based soft-robot modeling framework that runs directly on GPUs.

Maximilian Stölzle, Solange Gribonval, D. Feliú-Talegon et al. · 1 citation

Preprint Aug 2026

Learning to infer and manipulate through distributed whole-arm interaction in a soft robot

This work introduces a physical intelligence framework in which distributed compliant interactions jointly reveal task-relevant information and organize manipulation behavior and demonstrates this principle through blind whole-arm grasping with a hybrid rigid-soft robotic arm that is equip with IMUs embedded directly w...

Chu-Han Zhang, E. Shahabi, K. Khomenko et al. · 0 citations