140 citations · 330 across the 15 of their papers we have counts for
15 papers
Height Control and Optimal Torque Planning for Jumping With Wheeled-Bipedal Robots
Yulun Zhuang, Yuan Xu, Binxin Huang +5
This paper mainly studies the accurate height jumping control of wheeled-bipedal robots based on torque planning and energy consumption optimization. Due to the characteristics of…
Deep3DSketch+: Rapid 3D Modeling from Single Free-hand Sketches
Tianrun Chen, Chenglong Fu, Ying Zang +4
The rapid development of AR/VR brings tremendous demands for 3D content. While the widely-used Computer-Aided Design (CAD) method requires a time-consuming and labor-intensive mode…
A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes
Xinxing Chen, Chuheng Chen, Yuxuan Wang +4
Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based co…
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…
Ensemble diverse hypotheses and knowledge distillation for unsupervised cross-subject adaptation
Kuangen Zhang, Jiahong Chen, Jing Wang +4
Recognizing human locomotion intent and activities is important for controlling the wearable robots while walking in complex environments. However, human-robot interface signals ar…
Mapping Human Muscle Force to Supernumerary Robotics Device for Overhead Task Assistance
Jianwen Luo, Sicong Liu, Chengyu Lin +6
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is des…
How does the structure embedded in learning policy affect learning quadruped locomotion?
Kuangen Zhang, Jongwoo Lee, Zhimin Hou +3
Reinforcement learning (RL) is a popular data-driven method that has demonstrated great success in robotics. Previous works usually focus on learning an end-to-end (direct) policy…
Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance
Xia Wu, Haiyuan Liu, Ziqi Liu +6
Many researchers have identified robotics as a potential solution to the aging population faced by many developed and developing countries. If so, how should we address the cogniti…
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…
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…
Sequential Decision Fusion for Environmental Classification in Assistive Walking
Kuangen Zhang, Wen Zhang, Wentao Xiao +3
Powered prostheses are effective for helping amputees walk on level ground, but these devices are inconvenient to use in complex environments. Prostheses need to understand the mot…
Linked Dynamic Graph CNN: Learning on Point Cloud via Linking Hierarchical Features
Kuangen Zhang, Ming Hao, Jing Wang +2
Learning on point cloud is eagerly in demand because the point cloud is a common type of geometric data and can aid robots to understand environments robustly. However, the point c…
Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking: A Survey
Kuangen Zhang, Clarence W. de Silva, Chenglong Fu
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the hum…
Directional PointNet: 3D Environmental Classification for Wearable Robotics
Kuangen Zhang, Jing Wang, Chenglong Fu
Environmental information can provide reliable prior information about human motion intent, which can aid the subject with wearable robotics to walk in complex environments. Previo…
Capturability-based Analysis of Legged Robot with Consideration of Swing Legs
Zhiwei Zhang, Chenglong Fu
Capturability of a robot determines whether it is able to capture a robot within a number of steps. Current capturability analysis is based on stance leg dynamics, without taking a…