Skip to main content

Research Repository

Advanced Search

Outputs (23)

A bio-inspired multi-functional tendon-driven tactile sensor and application in obstacle avoidance using reinforcement learning (2023)
Journal Article

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

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.

Multi-purpose tactile perception based on deep learning in a new tendon-driven optical tactile sensor (2022)
Presentation / Conference Contribution

In this paper, we create a new tendon-connected multi-functional optical tactile sensor, MechTac, for object perception in the field of view (TacTip) and location of touching points in the blind area of vision (TacSide). In a multi-point touch task,... Read More about Multi-purpose tactile perception based on deep learning in a new tendon-driven optical tactile sensor.

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.