Charlie Yang's Outputs (107)

Editorial: Advanced learning control in physical interaction tasks (2023)
Journal Article

Robotics are increasingly and urgently expected to acquire human-like dexterous manipulation skills in physical interaction environments. Due to this, the loop between the high-level action policy and the low-level motion execution needs to be closed... Read More about Editorial: Advanced learning control in physical interaction tasks.

Review on human-like robot manipulation using dexterous hands (2023)
Journal Article

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 comprehensive review of scab disease detection on Rosaceae family fruits via UAV imagery (2023)
Journal Article

Disease detection in plants is essential for food security and economic stability. Unmanned aerial vehicle (UAV) imagery and artificial intelligence (AI) are valuable tools for it. The purpose of this review is to gather several methods used by our p... Read More about A comprehensive review of scab disease detection on Rosaceae family fruits via UAV imagery.

A gripper-like exoskeleton design for robot grasping demonstration (2023)
Journal Article

Learning from demonstration (LfD) is a practical method for transferring skill knowledge from a human demonstrator to a robot. Several studies have shown the effectiveness of LfD in robotic grasping tasks to improve the success rate of grasping and t... Read More about A gripper-like exoskeleton design for robot grasping demonstration.

One-shot domain-adaptive imitation learning via progressive learning applied to robotic pouring (2022)
Journal Article

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we propose a unifi... Read More about One-shot domain-adaptive imitation learning via progressive learning applied to robotic pouring.

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.

A neural network based framework for variable impedance skills learning from demonstrations (2022)
Journal Article

Robots are becoming standard collaborators not only in factories, hospitals, and offices, but also in people's homes, where they can play an important role in situations where a human cannot complete a task alone or needs the help of another person (... Read More about A neural network based framework for variable impedance skills learning from demonstrations.

A collaboration scheme for controlling multimanipulator system: A game-theoretic perspective (2022)
Journal Article

In some task-oriented multimanipulator applications, the system not only needs to complete the main assigned tasks, but also should optimize some subobjectives. In order to tap the redundancy potential of individual manipulators and improve the perfo... Read More about A collaboration scheme for controlling multimanipulator system: A game-theoretic perspective.

Dynamic surface control with a nonlinear disturbance observer for multi‐degree of freedom underactuated mechanical systems (2022)
Journal Article

Underactuated systems are extensively utilized in practice while attracting a huge deal of attention in theoretical studies. There are few robust control strategies for general underactuated systems because of the variety of their dynamic models. A d... Read More about Dynamic surface control with a nonlinear disturbance observer for multi‐degree of freedom underactuated mechanical systems.

A review on the techniques used in prostate brachytherapy (2022)
Journal Article

Prostate brachytherapy is a validated treatment for prostate cancer. During the procedure, the accuracy of needle placement is critical to the treatment’s effectiveness. However, the inserted needle could deflect from the preset trajectory because of... Read More about A review on the techniques used in prostate brachytherapy.

From teleoperation to autonomous robot-assisted microsurgery: A survey (2022)
Journal Article

Robot-assisted microsurgery (RAMS) has many benefits compared to traditional microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro-imaging modalities and micro-sensing systems are worth developing to further enhan... Read More about From teleoperation to autonomous robot-assisted microsurgery: A survey.

E2EK: End-to-end regression network based on keypoint for 6d pose estimation (2022)
Journal Article

The methods based on deep learning are the mainstream of 6D object pose estimation, which mainly include direct regression and two-stage pipelines. The former are keen by many scholars at first due to their simplicity and differentiability to poses,... Read More about E2EK: End-to-end regression network based on keypoint for 6d pose estimation.

Multifingered robot hand compliant manipulation based on vision-based demonstration and adaptive force control (2022)
Journal Article

Multifingered hand dexterous manipulation is quite challenging in the domain of robotics. One remaining issue is how to achieve compliant behaviors. In this work, we propose a human-in-the-loop learning-control approach for acquiring compliant graspi... Read More about Multifingered robot hand compliant manipulation based on vision-based demonstration and adaptive force control.

Robotic dexterous manipulation: From tele-operation to autonomous learning and adaptive control (2022)
Journal Article

Manipulation is one essential capability that enables robots to interact with and change the world. It is very important to understand the principles on how dexterous manipulation can be achieved from theoretical and technical aspects. From this spec... Read More about Robotic dexterous manipulation: From tele-operation to autonomous learning and adaptive control.

Robust passivity-based dynamical systems for compliant motion adaptation (2022)
Journal Article

Motivated by human compliant behaviors during interacting with unknown environments and how motions and impedance to are adapted skilfully complete a task, this article develops a motion planning scheme that is capable of generating a compliant traje... Read More about Robust passivity-based dynamical systems for compliant motion adaptation.

A framework for composite layup skill learning and generalizing through teleoperation (2022)
Journal Article

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.

A proactive controller for human-driven robots based on force/motion observer mechanisms (2022)
Journal Article

This article investigates human-driven robots via physical interaction, which is enhanced by integrating the human partner's motion intention. A human motor control model is employed to estimate the human partner's motion intention. A system observer... Read More about A proactive controller for human-driven robots based on force/motion observer mechanisms.

Incremental motor skill learning and generalization from human dynamic reactions based on dynamic movement primitives and fuzzy logic system (2021)
Journal Article

Different from previous work on single skill learning from human demonstrations, an incremental motor skill learning, generalization and control method based on dynamic movement primitives (DMP) and broad learning system (BLS) is proposed for extract... Read More about Incremental motor skill learning and generalization from human dynamic reactions based on dynamic movement primitives and fuzzy logic system.

Iterative learning-based robotic controller with prescribed human-robot interaction force (2021)
Journal Article

In this article, an iterative-learning-based robotic controller is developed, which aims at providing a prescribed assistance or resistance force to the human user. In the proposed controller, the characteristic parameter of the human upper limb move... Read More about Iterative learning-based robotic controller with prescribed human-robot interaction force.

A unified parametric representation for robotic compliant skills with adaptation of impedance and force (2021)
Journal Article

Robotic compliant manipulation is a very challenging but urgent research spot in the domain of robotics. One difficulty lies in the lack of a unified representation for encoding and learning of compliant profiles. This article aims to introduce a nov... Read More about A unified parametric representation for robotic compliant skills with adaptation of impedance and force.