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All Outputs (6)

Robot manipulator skill learning and generalising through teleoperation (2023)
Thesis
Si, W. Robot manipulator skill learning and generalising through teleoperation. (Thesis). University of the West of England. Retrieved from https://uwe-repository.worktribe.com/output/10357684

Robot manipulators have been widely used for simple repetitive, and accurate tasks in industrial plants, such as pick and place, assembly and welding etc., but it is still hard to deploy in human-centred environments for dexterous manipulation tasks,... Read More about Robot manipulator skill learning and generalising through teleoperation.

Impedance learning for human-guided robots in contact with unknown environments (2023)
Journal Article
Xing, X., Burdet, E., Si, W., Yang, C., & Li, Y. (2023). Impedance learning for human-guided robots in contact with unknown environments. IEEE Transactions on Robotics, 39(5), 3705 - 3721. https://doi.org/10.1109/tro.2023.3281483

Previous works have developed impedance control to increase safety and improve performance in contact tasks, where the robot is in physical interaction with either an environment or a human user. This article investigates impedance learning for a rob... Read More about Impedance learning for human-guided robots in contact with unknown environments.

A novel human-robot skill transfer method for contact-rich manipulation task (2023)
Journal Article
Dong, J., Si, W., & Yang, C. (2023). A novel human-robot skill transfer method for contact-rich manipulation task. Robotic Intelligence and Automation, 43(3), https://doi.org/10.1108/RIA-01-2023-0002

Purpose: The purpose of this paper is to enhance the robot’s ability to complete multi-step contact tasks in unknown or dynamic environments, as well as the generalization ability of the same task in different environments. Design/methodology/approac... Read More about A novel human-robot skill transfer method for contact-rich manipulation task.

A human-robot collaboration method for uncertain surface scanning (2023)
Journal Article
Zhao, G., Zeng, C., Si, W., & Yang, C. (in press). A human-robot collaboration method for uncertain surface scanning. CAAI Transactions on Intelligence Technology, https://doi.org/10.1049/cit2.12227

Robots are increasingly expected to replace humans in many repetitive and high-precision tasks, of which surface scanning is a typical example. However, it is usually difficult for a robot to independently deal with a surface scanning task with uncer... Read More about A human-robot collaboration method for uncertain surface scanning.

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.