18 citations · 26 across the 3 of their papers we have counts for
3 papers
cs.RO2022
Towards Exact Interaction Force Control for Underactuated Quadrupedal Systems with Orthogonal Projection and Quadratic Programming
Shengzhi Wang, Xiangyu Chu, K. W. Samuel Au
Projected Inverse Dynamics Control (PIDC) is commonly used in robots subject to contact, especially in quadrupedal systems. Many methods based on such dynamics have been developed…
cs.RO2022★ 8 cited
Learning Deep Nets for Gravitational Dynamics with Unknown Disturbance through Physical Knowledge Distillation: Initial Feasibility Study
Hongbin Lin, Qian Gao, Xiangyu Chu +4
Learning high-performance deep neural networks for dynamic modeling of high Degree-Of-Freedom (DOF) robots remains challenging due to the sampling complexity. Typical unknown syste…
cs.RO2020★ 18 cited
A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces
Hongbin Lin, C. W. Vincent Hui, Yan Wang +3
External disturbance forces caused by nonlinear springy electrical cables in the Master Tool Manipulator (MTM) of the da Vinci Research Kit (dVRK) limits the usage of the existing…