Charlie Yang's Outputs (107)

Multi-hierarchy interaction control of a redundant robot using impedance learning (2020)
Journal Article

The control of robots with a compliant joint motion is important for reducing collision forces and improving safety during human robot interactions. In this paper, a multi-hierarchy control framework is proposed for the redundant robot to enable the... Read More about Multi-hierarchy interaction control of a redundant robot using impedance learning.

Admittance-based controller design for physical human-robot interaction in the constrained task space (2020)
Journal Article

In this article, an admittance-based controller for physical human-robot interaction (pHRI) is presented to perform the coordinated operation in the constrained task space. An admittance model and a soft saturation function are employed to generate a... Read More about Admittance-based controller design for physical human-robot interaction in the constrained task space.

A method of motion recognition based on electromyographic signals (2020)
Journal Article

In a robot-assisted surgery, a skillful surgeon can perform the operation excellently through flexible wrist motions and rich experience. However, there are little researches about the relationship between the wrist motion and electromyography (EMG)... Read More about A method of motion recognition based on electromyographic signals.

Hand gesture recognition in complex background based on convolutional pose machine and fuzzy gaussian mixture models (2020)
Journal Article

© 2020, The Author(s). Hand gesture is one of the most intuitive and natural ways for human to communicate with computers, and it has been widely adopted in many human–computer interaction applications. However, it is still a challenging problem when... Read More about Hand gesture recognition in complex background based on convolutional pose machine and fuzzy gaussian mixture models.

Reinforcement learning control of a flexible two-link manipulator: an experimental investigation (2020)
Journal Article

This article discusses the control design and experiment validation of a flexible two-link manipulator (FTLM) system represented by ordinary differential equations (ODEs). A reinforcement learning (RL) control strategy is developed that is based on a... Read More about Reinforcement learning control of a flexible two-link manipulator: an experimental investigation.

Information entropy-based intention prediction of aerial targets under uncertain and incomplete information (2020)
Journal Article

© 2020 by authors. To improve the effectiveness of air combat decision-making systems, target intention has been extensively studied. In general, aerial target intention is composed of attack, surveillance, penetration, feint, defense, reconnaissance... Read More about Information entropy-based intention prediction of aerial targets under uncertain and incomplete information.

Mixed reality enhanced user interactive path planning for omnidirectional mobile robot (2020)
Journal Article

This paper proposes a novel control system for the path planning of an omnidirectional mobile robot based on mixed reality. Most research on mobile robots is carried out in a completely real environment or a completely virtual environment. However, a... Read More about Mixed reality enhanced user interactive path planning for omnidirectional mobile robot.

A sEMG-based shared control system with no-target obstacle avoidance for omnidirectional mobile robots (2020)
Journal Article

We propose a novel shared control strategy for mobile robots in a human-robot interaction manner based on surface eletromyography (sEMG) signals. For security reasons, an obstacle avoidance scheme is introduced to the shared control system as collisi... Read More about A sEMG-based shared control system with no-target obstacle avoidance for omnidirectional mobile robots.

Neural learning enhanced variable admittance control for human-robot collaboration (2020)
Journal Article

© 2013 IEEE. In this paper, we propose a novel strategy for human-robot impedance mapping to realize an effective execution of human-robot collaboration. The endpoint stiffness of the human arm impedance is estimated according to the configurations o... Read More about Neural learning enhanced variable admittance control for human-robot collaboration.

A teleoperation framework for mobile robots based on shared control (2019)
Journal Article

Mobile robots can complete a task in cooperation with a human partner. In this letter, a hybrid shared control method for a mobile robot with omnidirectional wheels is proposed. A human partner utilizes a six degrees of freedom haptic device and elec... Read More about A teleoperation framework for mobile robots based on shared control.

Robotic grasp detection based on image processing and random forest (2019)
Journal Article

© 2019, The Author(s). Real-time grasp detection plays a key role in manipulation, and it is also a complex task, especially for detecting how to grasp novel objects. This paper proposes a very quick and accurate approach to detect robotic grasps. Th... Read More about Robotic grasp detection based on image processing and random forest.

Physical human-robot collaboration: Robotic systems, learning methods, collaborative strategies, sensors, and actuators (2019)
Journal Article

This article presents a state-of-the-art survey on the robotic systems, sensors, actuators, and collaborative strategies for physical human-robot collaboration (pHRC). This article starts with an overview of some robotic systems with cutting-edge tec... Read More about Physical human-robot collaboration: Robotic systems, learning methods, collaborative strategies, sensors, and actuators.

Bayesian estimation of human impedance and motion intention for human-robot collaboration (2019)
Journal Article

This article proposes a Bayesian method to acquire the estimation of human impedance and motion intention in a human-robot collaborative task. Combining with the prior knowledge of human stiffness, estimated stiffness obeying Gaussian distribution is... Read More about Bayesian estimation of human impedance and motion intention for human-robot collaboration.

A robot learning framework based on adaptive admittance control and generalizable motion modeling with neural network controller (2019)
Journal Article

© 2019 Elsevier B.V. Robot learning from demonstration (LfD) enables robots to be fast programmed. This paper presents a novel LfD framework involving a teaching phase, a learning phase and a reproduction phase, and proposes methods in each of these... Read More about A robot learning framework based on adaptive admittance control and generalizable motion modeling with neural network controller.

Neural network enhanced robot tool identification and calibration for bilateral teleoperation (2019)
Journal Article

© 2013 IEEE. In teleoperated surgery, the transmission of force feedback from the remote environment to the surgeon at the local site requires the availability of reliable force information in the system. In general, a force sensor is mounted between... Read More about Neural network enhanced robot tool identification and calibration for bilateral teleoperation.

A fast and robust deep convolutional neural networks for complex human activity recognition using smartphone (2019)
Journal Article

© 2019 by the authors. Licensee MDPI, Basel, Switzerland. As a significant role in healthcare and sports applications, human activity recognition (HAR) techniques are capable of monitoring humans’ daily behavior. It has spurred the demand for intelli... Read More about A fast and robust deep convolutional neural networks for complex human activity recognition using smartphone.

Deep neural network approach in human-like redundancy optimization for anthropomorphic manipulators (2019)
Journal Article

© 2013 IEEE. Human-like behavior has emerged in the robotics area for improving the quality of Human-Robot Interaction (HRI). For the human-like behavior imitation, the kinematic mapping between a human arm and robot manipulator is one of the popular... Read More about Deep neural network approach in human-like redundancy optimization for anthropomorphic manipulators.

MPC-based 3-D trajectory tracking for an autonomous underwater vehicle with constraints in complex ocean environments (2019)
Journal Article

© 2019 Elsevier Ltd This paper presents a novel three-dimension (3-D) underwater trajectory tracking method for an autonomous underwater vehicle (AUV) using model predictive control (MPC). First, the 6-degrees of freedom (DoF) model of a fully-actuat... Read More about MPC-based 3-D trajectory tracking for an autonomous underwater vehicle with constraints in complex ocean environments.

Bio-inspired approach for long-range underwater navigation using model predictive control (2019)
Journal Article

Lots of evidence has indicated that many kinds of animals can achieve goal-oriented navigation by spatial cognition and dead reckoning. The geomagnetic field (GF) is a ubiquitous cue for navigation by these animals. Inspired by the goal-oriented navi... Read More about Bio-inspired approach for long-range underwater navigation using model predictive control.

Unknown dynamics estimator-based output-feedback control for nonlinear pure-feedback systems (2019)
Journal Article

Most existing adaptive control designs for nonlinear pure-feedback systems have been derived based on backstepping or dynamic surface control (DSC) methods, requiring full system states to be measurable. The neural networks (NNs) or fuzzy logic syste... Read More about Unknown dynamics estimator-based output-feedback control for nonlinear pure-feedback systems.