All Outputs (22)

Multi-fingered tactile servoing for grasping adjustment under partial observation (2022)
Presentation / Conference Contribution

Grasping of objects using multi-fingered robotic hands often fails due to small uncertainties in the hand motion control and the object's pose estimation. To tackle this problem, we propose a grasping adjustment strategy based on tactile seroving. Ou... Read More about Multi-fingered tactile servoing for grasping adjustment under partial observation.

One-shot domain-adaptive imitation learning via progressive learning applied to robotic pouring (2022)
Journal Article

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we propose a unifi... Read More about One-shot domain-adaptive imitation learning via progressive learning applied to robotic pouring.

A trajectory and force dual-incremental robot skill learning and generalization framework using improved dynamical movement primitives and adaptive neural network control (2022)
Journal Article

Due to changes in the environment and errors that occurred during skill initialization, the robot's operational skills should be modified to adapt to new tasks. As such, skills learned by the methods with fixed features, such as the classical Dynamic... Read More about A trajectory and force dual-incremental robot skill learning and generalization framework using improved dynamical movement primitives and adaptive neural network control.

A neural network based framework for variable impedance skills learning from demonstrations (2022)
Journal Article

Robots are becoming standard collaborators not only in factories, hospitals, and offices, but also in people's homes, where they can play an important role in situations where a human cannot complete a task alone or needs the help of another person (... Read More about A neural network based framework for variable impedance skills learning from demonstrations.

A modified LSTM model for Chinese sign language recognition using leap motion (2022)
Presentation / Conference Contribution

At present, there are about 70 million deaf people using sign language in the world, but for most normal people, it is difficult to understand the meaning of the sign language expression. Therefore, it is of great importance to explore the ways of re... Read More about A modified LSTM model for Chinese sign language recognition using leap motion.

A novel robot skill learning framework based on bilateral teleoperation (2022)
Presentation / Conference Contribution

In this paper, a bilateral teleoperation-based robot skill learning framework is developed to transfer multi-step and contact manipulation skills from humans to robots. Robot skill acquisition via bilateral teleoperation provides a solution for human... Read More about A novel robot skill learning framework based on bilateral teleoperation.

Non-singular fixed-time sliding mode control for unknown-dynamics manipulators interacting with environment (2022)
Presentation / Conference Contribution

In this paper, a robust fixed-time controller is de-signed for manipulators with unknown dynamics while interacting with environment. To realize compliance of the manipulator to the environment, an admittance model is adopted in the system. In the co... Read More about Non-singular fixed-time sliding mode control for unknown-dynamics manipulators interacting with environment.

Novel gripper-like exoskeleton design for robotic grasping based on learning from demonstration (2022)
Presentation / Conference Contribution

Learning from demonstration (LfD) has been developed and proved to be a promising method for transferring skill knowledge from human to robot. It is desired to have a demonstration device that can effectively map demonstrations to the robot's motion... Read More about Novel gripper-like exoskeleton design for robotic grasping based on learning from demonstration.

Fixed-time adaptive neural control for robot manipulators with input saturation and disturbance (2022)
Presentation / Conference Contribution

A fixed-time adaptive neural network control scheme is designed for an unknown model manipulator system with input saturation and external environment disturbance, so that the system convergence time can be parameterized and not affected by the initi... Read More about Fixed-time adaptive neural control for robot manipulators with input saturation and disturbance.

A collaboration scheme for controlling multimanipulator system: A game-theoretic perspective (2022)
Journal Article

In some task-oriented multimanipulator applications, the system not only needs to complete the main assigned tasks, but also should optimize some subobjectives. In order to tap the redundancy potential of individual manipulators and improve the perfo... Read More about A collaboration scheme for controlling multimanipulator system: A game-theoretic perspective.

A novel dynamic movement primitives-based skill learning and transfer framework for multi-tool use (2022)
Presentation / Conference Contribution

Dynamic Movement Primitives (DMPs) is a general method for learning skills from demonstrations. Most previous research on DMP has focused on point to point skill learning and training, and the skills learned are usually generalized based on the same... Read More about A novel dynamic movement primitives-based skill learning and transfer framework for multi-tool use.

Dynamic surface control with a nonlinear disturbance observer for multi‐degree of freedom underactuated mechanical systems (2022)
Journal Article

Underactuated systems are extensively utilized in practice while attracting a huge deal of attention in theoretical studies. There are few robust control strategies for general underactuated systems because of the variety of their dynamic models. A d... Read More about Dynamic surface control with a nonlinear disturbance observer for multi‐degree of freedom underactuated mechanical systems.

A review on the techniques used in prostate brachytherapy (2022)
Journal Article

Prostate brachytherapy is a validated treatment for prostate cancer. During the procedure, the accuracy of needle placement is critical to the treatment’s effectiveness. However, the inserted needle could deflect from the preset trajectory because of... Read More about A review on the techniques used in prostate brachytherapy.

From teleoperation to autonomous robot-assisted microsurgery: A survey (2022)
Journal Article

Robot-assisted microsurgery (RAMS) has many benefits compared to traditional microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro-imaging modalities and micro-sensing systems are worth developing to further enhan... Read More about From teleoperation to autonomous robot-assisted microsurgery: A survey.

E2EK: End-to-end regression network based on keypoint for 6d pose estimation (2022)
Journal Article

The methods based on deep learning are the mainstream of 6D object pose estimation, which mainly include direct regression and two-stage pipelines. The former are keen by many scholars at first due to their simplicity and differentiability to poses,... Read More about E2EK: End-to-end regression network based on keypoint for 6d pose estimation.

Multifingered robot hand compliant manipulation based on vision-based demonstration and adaptive force control (2022)
Journal Article

Multifingered hand dexterous manipulation is quite challenging in the domain of robotics. One remaining issue is how to achieve compliant behaviors. In this work, we propose a human-in-the-loop learning-control approach for acquiring compliant graspi... Read More about Multifingered robot hand compliant manipulation based on vision-based demonstration and adaptive force control.

An observation based method for human robot writing skill transfer (2022)
Presentation / Conference Contribution

This paper proposes a novel method of Chinese character stroke extraction and a framework for human robot skill transfer through vision-based observation. By analyzing the structure of Chinese characters, a direction vector update rule and a pixel fi... Read More about An observation based method for human robot writing skill transfer.

Robotic dexterous manipulation: From tele-operation to autonomous learning and adaptive control (2022)
Journal Article

Manipulation is one essential capability that enables robots to interact with and change the world. It is very important to understand the principles on how dexterous manipulation can be achieved from theoretical and technical aspects. From this spec... Read More about Robotic dexterous manipulation: From tele-operation to autonomous learning and adaptive control.

Robust passivity-based dynamical systems for compliant motion adaptation (2022)
Journal Article

Motivated by human compliant behaviors during interacting with unknown environments and how motions and impedance to are adapted skilfully complete a task, this article develops a motion planning scheme that is capable of generating a compliant traje... Read More about Robust passivity-based dynamical systems for compliant motion adaptation.

A framework for composite layup skill learning and generalizing through teleoperation (2022)
Journal Article

In this article, an impedance control-based framework for human-robot composite layup skill transfer was developed, and the human-in-the-loop mechanism was investigated to achieve human-robot skill transfer. Although there are some works on human-rob... Read More about A framework for composite layup skill learning and generalizing through teleoperation.