8 citations · 12 across the 6 of their papers we have counts for
6 papers
An Interval Branch-and-Bound-Based Inverse Kinemetics Algorithm Towards Global Optimal Redundancy Resolution
Yajue Yang, Zeqing Zhang, Yuanqing Wu +1
The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose…
Optimization-Based Framework for Excavation Trajectory Generation
Yajue Yang, Pinxin Long, Jia Pan +2
In this paper, we present a novel optimization-based framework for autonomous excavator trajectory generation under various objectives, including minimum joint displacement and min…
Time Variable Minimum Torque Trajectory Optimization for Autonomous Excavator
Yajue Yang, Jia Pan, Pinxin Long +2
In this paper, we present a minimal torque and time variable trajectory optimization method for autonomous excavator considering the soil-tool interaction. The method formulates th…
Deep Learning Scooping Motion using Bilateral Teleoperations
Hitoe Ochi, Weiwei Wan, Yajue Yang +3
We present bilateral teleoperation system for task learning and robot motion generation. Our system includes a bilateral teleoperation platform and a deep learning software. The de…
A Novel GPU-based Parallel Implementation Scheme and Performance Analysis of Robot Forward Dynamics Algorithms
Yajue Yang, Yuanqing Wu, Jia Pan
We propose a novel unifying scheme for parallel implementation of articulated robot dynamics algorithms. It is based on a unified Lie group notation for deriving the equations of m…
Parallel Dynamics Computation using Prefix Sum Operations
Yajue Yang, Yuanqing Wu, Jia Pan
We propose a new parallel framework for fast computation of inverse and forward dynamics of articulated robots based on prefix sums (scans). We re-investigate the well-known recurs…