All Outputs (25)

MechTac: A multifunctional tendon-linked optical tactile sensor for in/out-the-field-of-view perception with deep learning (2023)
Presentation / Conference Contribution

Tactile sensors can be used for motion detection and object perception in robot manipulation. The contact detection within the camera's visual inspection area has been well-developed, but perception outside the field of view of the camera is overlook... Read More about MechTac: A multifunctional tendon-linked optical tactile sensor for in/out-the-field-of-view perception with deep learning.

VERGNet: Visual enhancement guided robotic grasp detection under low-light condition (2023)
Journal Article

Although existing grasp detection methods have achieved encouraging performance under well-light conditions, repetitive experiments have found that the detection performance would deteriorate drastically under low-light conditions. Although supplemen... Read More about VERGNet: Visual enhancement guided robotic grasp detection under low-light condition.

Learning a flexible neural energy function with a unique minimum for globally stable and accurate demonstration learning (2023)
Journal Article

Learning a stable autonomous dynamic system (ADS) encoding human motion rules has been shown as an effective way for demonstration learning. However, the stability guarantee may sacrifice the demonstration learning accuracy. This article solves the i... Read More about Learning a flexible neural energy function with a unique minimum for globally stable and accurate demonstration learning.

Distributed observer-based prescribed performance control for multi-robot deformable object cooperative teleoperation (2023)
Journal Article

In this paper, a distributed observer-based prescribed performance control method is proposed for using a multi-robot teleoperation system to manipulate a common deformable object. To achieve a stable position-tracking effect and realize the desired... Read More about Distributed observer-based prescribed performance control for multi-robot deformable object cooperative teleoperation.

Visual-tactile robot grasping based on human skill learning from demonstrations using a wearable parallel hand exoskeleton (2023)
Journal Article

The soft fingers and strategic grasping skills enable the human hands to grasp objects in a stable manner. This letter is to model human grasping skills and transfer the learned skills to robots to improve grasping quality and success rate. First, we... Read More about Visual-tactile robot grasping based on human skill learning from demonstrations using a wearable parallel hand exoskeleton.

Two-stage grasp detection method for robotics using point clouds and deep hierarchical feature learning network (2023)
Journal Article

When human beings see different objects, they can quickly make correct grasping strategies through brain decisions. However, grasp, as the first step of most manipulation tasks, is still an open issue in robotics. Although many detection methods have... Read More about Two-stage grasp detection method for robotics using point clouds and deep hierarchical feature learning network.

Impedance learning for human-guided robots in contact with unknown environments (2023)
Journal Article

Previous works have developed impedance control to increase safety and improve performance in contact tasks, where the robot is in physical interaction with either an environment or a human user. This article investigates impedance learning for a rob... Read More about Impedance learning for human-guided robots in contact with unknown environments.

A novel human-robot skill transfer method for contact-rich manipulation task (2023)
Journal Article

Purpose: The purpose of this paper is to enhance the robot’s ability to complete multi-step contact tasks in unknown or dynamic environments, as well as the generalization ability of the same task in different environments. Design/methodology/approac... Read More about A novel human-robot skill transfer method for contact-rich manipulation task.

Dynamic motion primitives-based trajectory learning for physical human-robot interaction force control (2023)
Journal Article

One promising function of interactive robots is to provide a specific interaction force to human users. For example, rehabilitation robots are expected to promote patients' recovery by interacting with them with a prescribed force. However, motion un... Read More about Dynamic motion primitives-based trajectory learning for physical human-robot interaction force control.

A human-robot collaboration method for uncertain surface scanning (2023)
Journal Article

Robots are increasingly expected to replace humans in many repetitive and high-precision tasks, of which surface scanning is a typical example. However, it is usually difficult for a robot to independently deal with a surface scanning task with uncer... Read More about A human-robot collaboration method for uncertain surface scanning.

Recent advancements in multimodal human–robot interaction (2023)
Journal Article

Robotics have advanced significantly over the years, and human–robot interaction (HRI) is now playing an important role in delivering the best user experience, cutting down on laborious tasks, and raising public acceptance of robots. New HRI approach... Read More about Recent advancements in multimodal human–robot interaction.

Design and control of a novel bionic mantis shrimp robot (2023)
Journal Article

This article presents the development of a novel bionic robot, which is inspired by agile and fast mantis shrimp in the ocean. The developed bionic mantis shrimp robot has ten rigid-flexible swimming feet (pleopods) for swimming propulsion and a rope... Read More about Design and control of a novel bionic mantis shrimp robot.

A constrained framework based on IBLF for robot learning with human supervision (2023)
Journal Article

Dynamical movement primitives (DMPs) method is a useful tool for efficient robotic skills learning from human demonstrations. However, the DMPs method should know the specified constraints of tasks in advance. One flexible solution is to introduce th... Read More about A constrained framework based on IBLF for robot learning with human supervision.

Distributed collaborative control of redundant robots under weight-unbalanced directed graphs (2023)
Journal Article

In consideration of the limitation of the communication and the possibility that redundant robots might deliver information at different power levels, cases under weight-unbalanced directed graphs from the network topology perspective are in larger a... Read More about Distributed collaborative control of redundant robots under weight-unbalanced directed graphs.

Handheld device design for robotic teleoperation based on multi-sensor fusion (2023)
Presentation / Conference Contribution

Precise leader-follower control is critical for teleop- eration. This paper designs and implements a low-cost leader device for unilateral teleoperation scenario. Monocular vision based on fiducial markers and MEMS Inertial Measurement Unit (IMU) are... Read More about Handheld device design for robotic teleoperation based on multi-sensor fusion.

A multimodal teleoperation interface for human-robot collaboration (2023)
Presentation / Conference Contribution

Human-robot collaboration provides an effective approach to combine human intelligence and the autonomy of robots, which can improve the safety and efficiency of the robot. However, developing an intuitive and immersive human-robot interface with mul... Read More about A multimodal teleoperation interface for human-robot collaboration.

The classification and new trends of shared control strategies in telerobotic systems: A survey (2023)
Journal Article

Shared control, which permits a human operator and an autonomous controller to share the control of a telerobotic system, can reduce the operator's workload and/or improve performances during the execution of tasks. Due to the great benefits of combi... Read More about The classification and new trends of shared control strategies in telerobotic systems: A survey.

Adaptive fuzzy prescribed-time connectivity-preserving consensus of stochastic nonstrict-feedback switched multiagent systems (2023)
Journal Article

An adaptive fuzzy prescribed-time connectivity-preserving consensus protocol is designed for a class of stochastic nonstrict-feedback multiagent systems, in which periodic disturbances, switched nonlinearities, input saturation, and limited communica... Read More about Adaptive fuzzy prescribed-time connectivity-preserving consensus of stochastic nonstrict-feedback switched multiagent systems.

Editorial: Neuromorphic engineering for robotics (2023)
Journal Article

Neuromorphic engineering aims to apply insights from neurobiology to develop next-generation artificial intelligence for computation, sensing, and the control of robotic systems. There has been a rapid expansion of neuromorphic engineering technologi... Read More about Editorial: Neuromorphic engineering for robotics.

Editorial: Advanced learning control in physical interaction tasks (2023)
Journal Article

Robotics are increasingly and urgently expected to acquire human-like dexterous manipulation skills in physical interaction environments. Due to this, the loop between the high-level action policy and the low-level motion execution needs to be closed... Read More about Editorial: Advanced learning control in physical interaction tasks.