Publications

@article{2024tail,
  nav = {true},
  title = {TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments},
  author = {Yao#, Chen and Ge#, Yangtao and Shi#, Guowei and Wang#, Zirui and Yang, Ningbo and Zhu, Zheng and Wei, Hexiang and Zhao, Yuntian and Wu, Jing and Jia, Zhenzhong},
  journal = {arXiv preprint arXiv:2403.16875},
  year = {2024},
  video = {https://youtu.be/NvzEwUGCVLQ},
}

@article{ge2024contact,
  nav = {true},
  title = {Automatic Extrinsic Calibration for Structured Light Camera and Repetive LiDARs},
  author = {Ge#, Yangtao and Yao#, Chen and Wang, Zirui and Huang, Bangzhen and Kang, Haoran and Zhang, Wentao and Jia, Zhenzhong and Wu, Jing},
  journal = {Robotica},
  year = {2024},
  publisher = {Cambridge University Press},
}

@inproceedings{ge2023automatic,
  nav = {true},
  title = {Automatic Extrinsic Calibration for Lidar-Photoneo Camera Using a Hemispherical Calibration Board},
  author = {Ge, Yangtao and Yao, Chen and Wang, Zirui and Kang, Haoran and Zhang, Wentao and Wu, Jing},
  booktitle = {The 9th International Conference on Mechatronics and Robotics Engineering (ICMRE 2023)},
  highlight = {Best presentation award},
  year = {2023},
}

@inproceedings{zhang2022analysis,
  nav = {true},
  title = {Analysis of robot traversability over unstructured terrain using information fusion},
  author = {Zhang, Wenyao and Lyu, Shipeng and Yao, Chen and Xue, Feng and Zhu, Zheng and Jia, Zhenzhong},
  booktitle = {2022 International Conference on Advanced Robotics and Mechatronics (ICARM)},
  pages = {413--418},
  year = {2022},
  organization = {IEEE},
}

@inproceedings{zhu2022fusing,
  mapping = {true},
  title = {Fusing panoptic segmentation and geometry information for robust visual slam in dynamic environments},
  author = {Zhu, Hu and Yao, Chen and Zhu, Zheng and Liu, Zhengtao and Jia, Zhenzhong},
  booktitle = {2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)},
  pages = {1648--1653},
  year = {2022},
  organization = {IEEE},
}

@inproceedings{2021mvrr,
  mapping = {true},
  title = {Robust Method for Static 3D Point Cloud Map Building using Multi-View Images with Multi-Resolution},
  author = {Yao, Chen and Zhu, Hu and Lv, Shipeng and Zhang, Dingyuan and Jia, Zhenzhong},
  booktitle = {2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)},
  pages = {782--787},
  year = {2021},
  organization = {IEEE},
  video = {https://youtu.be/ntl-pVdmp1A},
}

@article{lyu2024contact,
  perception = {true},
  title = {A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains},
  author = {Lyu, Shipeng and Zhang, Wenyao and Yao, Chen and Liu, Zhengtao and Su, Yang and Zhu, Zheng and Jia, Zhenzhong},
  journal = {Robotica},
  pages = {1--17},
  year = {2024},
  publisher = {Cambridge University Press},
}

@inproceedings{hu2023terrain,
  perception = {true},
  title = {Terrain Classification Using Inside-Wheel Cameras Based on Wheel-Terrain Interaction Characteristics},
  author = {Hu, Longteng and Xue, Feng and Yao, Chen and Li, Yunzhou and Wei, Jin and Wang, Peichen and Zhu, Zheng and Jia, Zhenzhong},
  booktitle = {2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  pages = {1--6},
  year = {2023},
  organization = {IEEE},
}

@inproceedings{xue2023terrain,
  perception = {true},
  title = {Terrain Classification Based on Wheel-terrain Interaction Measurements using Aside-Wheel Camera},
  author = {Xue, Feng and Hu, Longteng and Yao, Chen and Wei, Jin and Li, Yunzhou and Wang, Peichen and Zhu, Zheng and Jia, Zhenzhong},
  booktitle = {2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  pages = {1--6},
  year = {2023},
  organization = {IEEE},
}

@inproceedings{xue2022sound,
  perception = {true},
  title = {Sound-based terrain classification for multi-modal wheel-leg robots},
  author = {Xue, Feng and Hu, Longteng and Yao, Chen and Liu, Zhengtao and Zhu, Zheng and Jia, Zhenzhong},
  booktitle = {2022 international conference on advanced robotics and mechatronics (ICARM)},
  pages = {174--179},
  year = {2022},
  organization = {IEEE},
}

@article{yao2023wheel,
  interaciton_wheel = {true},
  title = {Wheel vision: Wheel-terrain interaction measurement and analysis using a sensorized transparent wheel on deformable terrains},
  author = {Yao, Chen and Xue, Feng and Wang, Zhengyin and Yuan, Ye and Zhu, Zheng and Ding, Liang and Jia, Zhenzhong},
  journal = {IEEE Robotics and Automation Letters},
  year = {2023},
  publisher = {IEEE},
  video = {https://youtu.be/aYKW1Pp4ENw},
}

@article{xue2023wheel,
  interaciton_wheel = {true},
  title = {Wheel-Terrain Contact Geometry Estimation and Interaction Analysis using Aside-wheel Camera over Deformable Terrains},
  author = {Xue\#, Feng and Yao\#, Chen and Yuan, Ye and Ge, Yangtao and Shi, Wujie and Zhu, Zheng and Ding, Liang and Jia, Zhengzhong},
  journal = {IEEE Robotics and Automation Letters},
  year = {2023},
}

@inproceedings{zhang2023terrain,
  interaciton_wheel = {true},
  title = {Wheel-Terrain Contact Geometry Estimation using the Aside-Wheel RGB-D Sensor over Soft Terrain},
  author = {Zhang, Pengxuan and Yao, Chen and Hu, Longteng and Xue, Feng and Wang, Peichen and Zhu, Zheng and Jia, Zhenzhong},
  booktitle = {2023 International Conference on Robotics, Automation, and Artificial Intelligence (RAAI)},
  year = {2023},
  organization = {IEEE},
}

@article{lyu2023modeling,
  interaciton_wheel = {true},
  title = {Modeling and analysis of a reconfigurable rover for improved traversing over soft sloped terrains},
  author = {Lyu, Shipeng and Zhang, Wenyao and Yao, Chen and Zhu, Zheng and Jia, Zhenzhong},
  journal = {Biomimetics},
  volume = {8},
  number = {1},
  pages = {131},
  year = {2023},
  publisher = {MDPI},
}

@article{zhang2022predict,
  interaciton_wheel = {true},
  title = {Predict the rover mobility over soft terrain using articulated wheeled bevameter},
  author = {Zhang, Wenyao and Lyu, Shipeng and Xue, Feng and Yao, Chen and Zhu, Zheng and Jia, Zhenzhong},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {4},
  pages = {12062--12069},
  year = {2022},
  publisher = {IEEE},
}

@article{yao2024staf,
  interaciton_leg = {true},
  title = {STAF: Interaction-Based Design and Evaluation of Sensorized Terrain-Adaptive Foot for Legged Robot Traversing on Soft Slopes},
  author = {Yao, Chen and Shi, Guowei and Xu, Peng and Lyu, Shipeng and Qiang, Zhiyang and Zhu, Zheng and Ding, Liang and Jia, Zhenzhong},
  journal = {IEEE/ASME Transactions on Mechatronics},
  year = {2024},
  publisher = {IEEE},
}

@inproceedings{yao2023predict,
  interaciton_leg = {true},
  title = {Predict the Physics-Informed Terrain Properties Over Deformable Soils using Sensorized Foot for Quadruped Robots},
  author = {Yao, Chen and Shi, Guowei and Ge, Yangtao and Zhu, Zheng and Jia, Zhenzhong},
  booktitle = {2023 International Conference on Advanced Robotics and Mechatronics (ICARM)},
  pages = {330--335},
  year = {2023},
  organization = {IEEE},
}

@inproceedings{shi2022adaptive,
  interaciton_leg = {true},
  title = {Adaptive Planar Foot with Compliant Ankle Joint and Multi-modal Sensing for Quadruped Robots},
  author = {Shi\#, Guowei and Yao\#, Chen and Wang, Wenhui and Zhu, Zheng and Jia, Zhenzhong},
  booktitle = {2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  pages = {52--57},
  year = {2022},
  organization = {IEEE},
}

@article{2020legged,
  loc = {true},
  title = {Multi-Sensor State Estimation Fusion on Quadruped Robot Locomotion},
  author = {Yao, Chen},
  journal = {arXiv e-prints},
  pages = {arXiv--2007},
  year = {2020},
  video = {https://youtu.be/I6bBXiQUZBQ},
}

@phdthesis{2019legged,
  loc = {true},
  title = {Research On State Estimation and Autonomous Localization of Quadruped Robot In Unstructured Environment},
  author = {Yao, Chen},
  year = {2019},
  school = {HIT},
  video = {https://youtu.be/I6bBXiQUZBQ},
}

@inproceedings{zhang2023terraio,
  applicaiton = {true},
  title = {Nondestructive inspection of steel plates by using magnetic absorption robot and sh emat},
  author = {Wang, Peichen and Chen, Youli and Wei, Jin and Li, Yunzhou and Yao, Chen and Li, Ce and Li, Zhichao},
  booktitle = {2024 IEEE 7th International Electrical and Energy Conference (CIEEC)},
  year = {2024},
  organization = {IEEE},
}

@inproceedings{2024icra_workshop,
  workshop = {true},
  title = {Are We Ready for Planetary Exploration Robots?The TAIL-Plus Dataset for SLAM in Granular Environments},
  author = {Wang#, Zirui and Yao#, Chen and Ge#, Yangtao and Shi#, Guowei and Yang, Ningbo and Zhu, Zheng and Kewei, Dong and Wei, Hexiang and Jia, Zhenzhong and Wu, Jing},
  booktitle = {ICRA - 2024 Workshop on Field Robotics},
  video = {https://youtu.be/NvzEwUGCVLQ},
  year = {2024},
}