Outputs (31)

A bio-inspired multi-functional tendon-driven tactile sensor and application in obstacle avoidance using reinforcement learning (2023)
Journal Article
Lu, Z., Zhao, Z., Yue, T., Zhu, X., & Wang, N. (2024). A bio-inspired multi-functional tendon-driven tactile sensor and application in obstacle avoidance using reinforcement learning. IEEE Transactions on Cognitive and Developmental Systems, 16(2), 407 - 415. https://doi.org/10.1109/tcds.2023.3297361

This paper presents a new bio-inspired tactile sensor that is multi-functional and has different sensitivity contact areas. The TacTop area is sensitive and is used for object classification when there is a direct contact. On the other hand, the TacS... Read More about A bio-inspired multi-functional tendon-driven tactile sensor and application in obstacle avoidance using reinforcement learning.

Distributed observer-based prescribed performance control for multi-robot deformable object cooperative teleoperation (2023)
Journal Article
Lu, Z., Wang, N., Si, W., & Yang, C. (in press). Distributed observer-based prescribed performance control for multi-robot deformable object cooperative teleoperation. IEEE Transactions on Automation Science and Engineering, https://doi.org/10.1109/tase.2023.3292553

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.

A multimodal human-robot sign language interaction framework applied in social robots (2023)
Journal Article
Li, J., Zhong, J., & Wang, N. (2023). A multimodal human-robot sign language interaction framework applied in social robots. Frontiers in Neuroscience, 17, Article 1168888. https://doi.org/10.3389/fnins.2023.1168888

Deaf-mutes face many difficulties in daily interactions with hearing people through spoken language. Sign language is an important way of expression and communication for deaf-mutes. Therefore, breaking the communication barrier between the deaf-mute... Read More about A multimodal human-robot sign language interaction framework applied in social robots.

Review on human-like robot manipulation using dexterous hands (2023)
Journal Article
Kadalagere Sampath, S., Wang, N., Wu, H., & Yang, C. (2023). Review on human-like robot manipulation using dexterous hands. Cognitive Computation and Systems, 5(1), 14-29. https://doi.org/10.1049/ccs2.12073

In recent years, human hand-based robotic hands or dexterous hands have gained attention due to their enormous capabilities of handling soft materials compared to traditional grippers. Back in the earlier days, the development of a hand model close t... Read More about Review on human-like robot manipulation using dexterous hands.

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
Lu, Z., Wang, N., Li, Q., & Yang, C. (2023). A trajectory and force dual-incremental robot skill learning and generalization framework using improved dynamical movement primitives and adaptive neural network control. Neurocomputing, 521, 146-159. https://doi.org/10.1016/j.neucom.2022.11.076

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 robotic learning and generalization framework for curved surface based on modified DMP (2022)
Journal Article
Xue, X., Dong, J., Lu, Z., & Wang, N. (2023). A robotic learning and generalization framework for curved surface based on modified DMP. Robotics and Autonomous Systems, 160, 104323. https://doi.org/10.1016/j.robot.2022.104323

How to reproduce and generalize the skills acquired by demonstrating is a hot topic for researchers. (1) A compliant continuous drag demonstration system based on discrete admittance model was designed to continuously and smoothly drag or demonstrate... Read More about A robotic learning and generalization framework for curved surface based on modified DMP.

Biomimetic force and impedance adaptation based on broad learning system in stable and unstable tasks: Creating an incremental and explainable neural network with functional linkage (2022)
Journal Article
Lu, Z., & Wang, N. (in press). Biomimetic force and impedance adaptation based on broad learning system in stable and unstable tasks: Creating an incremental and explainable neural network with functional linkage. IEEE Robotics and Automation Magazine, 2-13. https://doi.org/10.1109/MRA.2022.3188218

This article presents a novel biomimetic force and impedance adaption framework based on the broad learning system (BLS) for robot control in stable and unstable environments. Different from iterative learning control, the adaptation process is real... Read More about Biomimetic force and impedance adaptation based on broad learning system in stable and unstable tasks: Creating an incremental and explainable neural network with functional linkage.

Adaptive compliant skill learning for contact-rich manipulation with human in the loop (2022)
Journal Article
Si, W., Guan, Y., & Wang, N. (2022). Adaptive compliant skill learning for contact-rich manipulation with human in the loop. IEEE Robotics and Automation Letters, 7(3), 5834 - 5841. https://doi.org/10.1109/LRA.2022.3159163

It is essential for the robot manipulator to adapt to unexpected events and dynamic environments while executing the physical contact-rich tasks. Although a range of methods have been investigated to enhance the adaptability and generalization capabi... Read More about Adaptive compliant skill learning for contact-rich manipulation with human in the loop.

An adaptive fuzzy control for human-in-the-loop operations with varying communication time delays (2022)
Journal Article
Lu, Z., Guan, Y., & Wang, N. (2022). An adaptive fuzzy control for human-in-the-loop operations with varying communication time delays. IEEE Robotics and Automation Letters, 7(2), 5599-5606. https://doi.org/10.1109/LRA.2022.3158540

Time delay, especially varying time delay, is always an important factor affecting the stability to the human-in-the-loop system. Previous research usually focuses on the performance of the internal signal transmission part, but rarely considers the... Read More about An adaptive fuzzy control for human-in-the-loop operations with varying communication time delays.

A framework for composite layup skill learning and generalizing through teleoperation (2022)
Journal Article
Si, W., Wang, N., Li, Q., & Yang, C. (2022). A framework for composite layup skill learning and generalizing through teleoperation. Frontiers in Neurorobotics, 16, Article 840240. https://doi.org/10.3389/fnbot.2022.840240

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.