Outputs (97)

A review on manipulation skill acquisition through teleoperation‐based learning from demonstration (2021)
Journal Article

Manipulation skill learning and generalisation have gained increasing attention due to the wide applications of robot manipulators and the spurt of robot learning techniques. Especially, the learning from demonstration method has been exploited widel... Read More about A review on manipulation skill acquisition through teleoperation‐based learning from demonstration.

Distributed cooperative kinematic control of multiple robotic manipulators with improved communication efficiency (2021)
Journal Article

An efficiency-oriented solution is theoretically a preferred choice to support the efficient operation of a system. Although some studies on the multi-manipulator system share the load of the control center by transforming the network topology, the w... Read More about Distributed cooperative kinematic control of multiple robotic manipulators with improved communication efficiency.

Composite dynamic movement primitives based on neural networks for human–robot skill transfer (2021)
Journal Article

In this paper, composite dynamic movement primitives (DMPs) based on radial basis function neural networks (RBFNNs) are investigated for robots’ skill learning from human demonstrations. The composite DMPs could encode the position and orientation ma... Read More about Composite dynamic movement primitives based on neural networks for human–robot skill transfer.

A constrained DMPs framework for robot skills learning and generalization from human demonstrations (2021)
Journal Article

Dynamical movement primitives (DMPs) model is a useful tool for efficiently robotic learning manipulation skills from human demonstrations and then generalizing these skills to fulfill new tasks. It is improved and applied for the cases with multiple... Read More about A constrained DMPs framework for robot skills learning and generalization from human demonstrations.

Learning compliant robotic movements based on biomimetic motor adaptation (2020)
Journal Article

It is one of the great challenges for a robot to learn compliant movements in interaction tasks. The robot can easily acquire motion skills from a human tutor by kinematics demonstration, however, this becomes much more difficult when it comes to the... Read More about Learning compliant robotic movements based on biomimetic motor adaptation.

Robust neurooptimal control for a robot via adaptive dynamic programming (2020)
Journal Article

We aim at the optimization of the tracking control of a robot to improve the robustness, under the effect of unknown nonlinear perturbations. First, an auxiliary system is introduced, and optimal control of the auxiliary system can be seen as an appr... Read More about Robust neurooptimal control for a robot via adaptive dynamic programming.

Recent advances in robot-assisted echography: Combining perception, control and cognition (2020)
Journal Article

Echography imaging is an important technique frequently used in medical diagnostics due to low-cost, non-ionising characteristics, and pragmatic convenience. Due to the shortage of skilful technicians and injuries of physicians sustained from diagnos... Read More about Recent advances in robot-assisted echography: Combining perception, control and cognition.

An incremental learning framework to enhance teaching by demonstration based on multimodal sensor fusion (2020)
Journal Article

Though a robot can reproduce the demonstration trajectory from a human demonstrator by teleoperation, there is a certain error between the reproduced trajectory and the desired trajectory. To minimize this error, we propose a multimodal incremental l... Read More about An incremental learning framework to enhance teaching by demonstration based on multimodal sensor fusion.

Disturbance observer enhanced variable gain controller for robot teleoperation with motion capture using wearable armbands (2020)
Journal Article

Disturbance observer (DOB) based controller performs well in estimating and compensating for perturbation when the external or internal unknown disturbance is slowly time varying. However, to some extent, robot manipulators usually work in complex en... Read More about Disturbance observer enhanced variable gain controller for robot teleoperation with motion capture using wearable armbands.

Novel joint-drift-free scheme at acceleration level for robotic redundancy resolution with tracking error theoretically eliminated (2020)
Journal Article

In this article, three acceleration-level joint-drift-free (ALJDF) schemes for kinematic control of redundant manipulators are proposed and analyzed from perspectives of dynamics and kinematics with the corresponding tracking error analyses. First, t... Read More about Novel joint-drift-free scheme at acceleration level for robotic redundancy resolution with tracking error theoretically eliminated.