47 citations · 106 across the 9 of their papers we have counts for
9 papers
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…
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…
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…
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…
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…
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…
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…
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…