All Outputs (5)

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.

Robust output-feedback predictive control for proximity eddy current de-tumbling with constraints and uncertainty (2022)
Journal Article
Liu, X., Chang, H., Huang, P., & Lu, Z. (2023). Robust output-feedback predictive control for proximity eddy current de-tumbling with constraints and uncertainty. IEEE Transactions on Aerospace and Electronic Systems, 59(2), 858-870. https://doi.org/10.1109/TAES.2022.3191293

Proximity operation can significantly improve the efficiency of eddy current de-tumbling. However, the tumbling motion and non-cooperation of space debris make the chaser execute collision avoidance maneuvers and be influenced by model uncertainty. I... Read More about Robust output-feedback predictive control for proximity eddy current de-tumbling with constraints and uncertainty.

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.