Publications (20)
Beyond Gait: Learning Knee Angle for Seamless Prosthesis Control in Multiple Scenarios
Pengwei Wang, Yilong Chen, Wan Su +3
Deep learning models have become a powerful tool in knee angle estimation for lower limb prostheses, owing to their adaptability across various gait phases and locomotion modes. Cu…
Teach Biped Robots to Walk via Gait Principles and Reinforcement Learning with Adversarial Critics
Kuangen Zhang, Zhimin Hou, Clarence W. de Silva +2
Controlling a biped robot to walk stably is a challenging task considering its nonlinearity and hybrid dynamics. Reinforcement learning can address these issues by directly mapping…
Inverse optimal design of input-to-state stabilizing homogeneous controllers for nonlinear homogeneous systems
Kaixin Lu, Ziliang Lyu, Haoyong Yu
This work studies the inverse optimality of input-to-state stabilizing controllers with input-output stability guarantees for nonlinear homogeneous systems. We formulate a new inve…
Assist-as-needed Hip Exoskeleton Control for Gait Asymmetry Correction via Human-in-the-loop Optimization
Yuepeng Qian, Jingfeng Xiong, Haoyong Yu +1
Gait asymmetry is a significant clinical characteristic of hemiplegic gait that most stroke survivors suffer, leading to limited mobility and long-term negative impacts on their qu…
Composite learning control with application to inverted pendulums
Yongping Pan, Lin Pan, Haoyong Yu
Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with…
TeachingBot: Robot Teacher for Human Handwriting
Zhimin Hou, Cunjun Yu, David Hsu +1
Teaching and learning physical skills often require one-on-one interaction, making it difficult to scale up, as there are not enough human teachers. Robots offer an attractive alte…
YOLO-CCA: A Context-Based Approach for Traffic Sign Detection
Linfeng Jiang, Peidong Zhan, Ting Bai +1
Traffic sign detection is crucial for improving road safety and advancing autonomous driving technologies. Due to the complexity of driving environments, traffic sign detection fre…
Automated Radiology Report Generation Based on Topic-Keyword Semantic Guidance
Jing Xiao, Hongfei Liu, Ruiqi Dong +2
Automated radiology report generation is essential in clinical practice. However, diagnosing radiological images typically requires physicians 5-10 minutes, resulting in a waste of…
Off-policy Maximum Entropy Reinforcement Learning : Soft Actor-Critic with Advantage Weighted Mixture Policy(SAC-AWMP)
Zhimin Hou, Kuangen Zhang, Yi Wan +3
The optimal policy of a reinforcement learning problem is often discontinuous and non-smooth. I.e., for two states with similar representations, their optimal policies can be signi…
ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation
Xinyu Jia, Wenxin Wang, Jun Yang +2
This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free…
Real-time Human-Robot Collaborative Manipulations of Cylindrical and Cubic Objects via Geometric Primitives and Depth Information
Huixu Dong, Jiadong Zhou, Haoyong Yu
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through th…
Enhanced Robust Motion Control based on Unknown System Dynamics Estimator for Robot Manipulators
Xinyu Jia, Jun Yang, Kaixin Lu +2
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulat…
Extremum Seeking Nonovershooting Control of Strict-Feedback Systems Under Unknown Control Direction
Kaixin Lu, Ziliang Lyu, Yanfang Mo +2
This paper addresses the nonovershooting control problem for strict-feedback nonlinear systems with unknown control direction. We propose a method that integrates extremum seeking…
GTac: A Biomimetic Tactile Sensor with Skin-like Heterogeneous Force Feedback for Robots
Zeyu Lu, Xingyu Gao, Haoyong Yu
The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated…
Toward Context-Aware Exoskeleton Assistance: Integrating Computer Vision Payload Estimation with a User-Centric Optimization Space
Andrea Dal Prete, Seyram Ofori, Chan Yon Sin +5
Back-support exoskeletons (BSEs) mitigate musculoskeletal strain, yet their efficacy depends on precise, context-aware modulation. This paper introduces a user-centric optimization…
GSG: A Granary Soft Gripper with Mechanical Force Sensing via 3-Dimensional Snap-Through Structure
Huixu Dong, Chao-Yu Chen, Chen Qiu +2
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted consid…
Multi-layered Safety of Redundant Robot Manipulators via Task-oriented Planning and Control
Xinyu Jia, Wenxin Wang, Jun Yang +2
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full…
A Learning Quasi-stiffness Control Framework of a Powered Trans-femoral Prosthesis for Adaptive Speed and Incline Walking
Teng Ma, Shucong Yin, Zhimin Hou +4
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies…
A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators
Emre Sariyildiz, Rahim Mutlu, Haoyong Yu
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be describe…
Design, Modelling, and Control of a Reconfigurable Rotary Series Elastic Actuator with Nonlinear Stiffness for Assistive Robots
Yuepeng Qian, Shuaishuai Han, Gabriel Aguirre-Ollinger +2
In assistive robots, compliant actuator is a key component in establishing safe and satisfactory physical human-robot interaction (pHRI). The performance of compliant actuators lar…