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All Outputs (13)

Handheld device design for robotic teleoperation based on multi-sensor fusion (2023)
Conference Proceeding
Xie, L., Huang, D., Lu, Z., Wang, N., & Yang, C. (2023). Handheld device design for robotic teleoperation based on multi-sensor fusion. In 2023 IEEE International Conference on Mechatronics (ICM). https://doi.org/10.1109/ICM54990.2023.10102054

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)
Conference Proceeding
Si, W., Zhong, T., Wang, N., & Yang, C. (2023). A multimodal teleoperation interface for human-robot collaboration. In 2023 IEEE International Conference on Mechatronics (ICM). https://doi.org/10.1109/ICM54990.2023.10102060

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.

Deformation-aware contact-rich manipulation skills learning and compliant control (2023)
Conference Proceeding
Si, W., Guo, C., Dong, J., Lu, Z., & Yang, C. (2023). Deformation-aware contact-rich manipulation skills learning and compliant control. In P. Borja, C. D. Santina, L. Peternel, & E. Torta (Eds.), Human-Friendly Robotics 2022 HFR: 15th International Workshop on Human-Friendly Robotics (90-104). https://doi.org/10.1007/978-3-031-22731-8_7

In this paper, we study a vision-based reactive adaptation method for contact-rich manipulation tasks, based on the compliant control and learning from demonstration. For contact-rich tasks, the compliant control method is essential, especially when... Read More about Deformation-aware contact-rich manipulation skills learning and compliant control.

Multi-fingered tactile servoing for grasping adjustment under partial observation (2022)
Conference Proceeding
Liu, H., Huang, B., Li, Q., Zheng, Y., Ling, Y., Lee, W., …Yang, C. (2022). Multi-fingered tactile servoing for grasping adjustment under partial observation. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (7781-7788). https://doi.org/10.1109/IROS47612.2022.9981464

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.

A modified LSTM model for Chinese sign language recognition using leap motion (2022)
Conference Proceeding
Wu, B., Lu, Z., & Yang, C. (2022). A modified LSTM model for Chinese sign language recognition using leap motion. In 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC) (1612-1617). https://doi.org/10.1109/SMC53654.2022.9945287

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)
Conference Proceeding
Si, W., Yue, T., Guan, Y., Wang, N., & Yang, C. (2022). A novel robot skill learning framework based on bilateral teleoperation. In 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE). https://doi.org/10.1109/case49997.2022.9926526

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.

Fixed-time adaptive neural control for robot manipulators with input saturation and disturbance (2022)
Conference Proceeding
Huang, H., Lu, Z., Wang, N., & Yang, C. (2022). Fixed-time adaptive neural control for robot manipulators with input saturation and disturbance. In 2022 27th International Conference on Automation and Computing (ICAC). https://doi.org/10.1109/ICAC55051.2022.9911082

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.

Novel gripper-like exoskeleton design for robotic grasping based on learning from demonstration (2022)
Conference Proceeding
Dai, H., Lu, Z., He, M., & Yang, C. (2022). Novel gripper-like exoskeleton design for robotic grasping based on learning from demonstration. In 2022 27th International Conference on Automation and Computing (ICAC). https://doi.org/10.1109/ICAC55051.2022.9911096

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.

Non-singular fixed-time sliding mode control for unknown-dynamics manipulators interacting with environment (2022)
Conference Proceeding
Kong, H., Li, G., & Yang, C. (2022). Non-singular fixed-time sliding mode control for unknown-dynamics manipulators interacting with environment. In 2022 27th International Conference on Automation and Computing (ICAC). https://doi.org/10.1109/ICAC55051.2022.9911101

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.

A novel dynamic movement primitives-based skill learning and transfer framework for multi-tool use (2022)
Conference Proceeding
Lu, Z., Wang, N., Li, M., & Yang, C. (2022). A novel dynamic movement primitives-based skill learning and transfer framework for multi-tool use. . https://doi.org/10.1109/ICCA54724.2022.9831826

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.

An observation based method for human robot writing skill transfer (2022)
Conference Proceeding
Li, X., Si, W., & Yang, C. (2022). An observation based method for human robot writing skill transfer. In 2022 IEEE 17th International Conference on Control & Automation (ICCA). https://doi.org/10.1109/ICCA54724.2022.9831836

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.

Development of a dynamics model for the Baxter robot (2016)
Conference Proceeding
Smith, A., Yang, C., Li, C., Ma, H., & Zhao, L. (2016). Development of a dynamics model for the Baxter robot. . https://doi.org/10.1109/ICMA.2016.7558740

© 2016 IEEE. The dynamics model of a robot is important to find the relation between the joint actuator torques and the resulting motion. There are two common methods to do this: The Lagrange formulation, which gives a closed form of the dynamics equ... Read More about Development of a dynamics model for the Baxter robot.

Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning (2014)
Conference Proceeding
Smith, A., Yang, C., Ma, H., Culverhouse, P., Cangelosi, A., & Burdet, E. (2014). Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning. . https://doi.org/10.1109/ISIC.2014.6967605

© 2014 IEEE. A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affe... Read More about Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning.