18 citations · 36 across the 14 of their papers we have counts for
14 papers
Hierarchical Deformation Planning and Neural Tracking for DLOs in Constrained Environments
Yunxi Tang, Tianqi Yang, Jing Huang +2
Deformable linear objects (DLOs) manipulation presents significant challenges due to DLOs' inherent high-dimensional state space and complex deformation dynamics. The wide-populate…
Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasound
Zhongyu Chen, Chenyang Li, Xuesong Li +5
Precise needle alignment is essential for percutaneous needle insertion in robotic ultrasound-guided procedures. However, inherent challenges such as speckle noise, needle-like art…
Passage-traversing optimal path planning with sampling-based algorithms
Jing Huang, Hao Su, Kwok Wai Samuel Au
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimi…
Learning to Hop for a Single-Legged Robot with Parallel Mechanism
Hongbo Zhang, Xiangyu Chu, Yanlin Chen +4
This work presents the application of reinforcement learning to improve the performance of a highly dynamic hopping system with a parallel mechanism. Unlike serial mechanisms, para…
DOFS: A Real-world 3D Deformable Object Dataset with Full Spatial Information for Dynamics Model Learning
Zhen Zhang, Xiangyu Chu, Yunxi Tang +1
This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using…
Homotopic Path Set Planning for Robot Manipulation and Navigation
Jing Huang, Yunxi Tang, Kwok Wai Samuel Au
This paper addresses path set planning that yields important applications in robot manipulation and navigation such as path generation for deformable object keypoints and swarms. A…
World Models for General Surgical Grasping
Hongbin Lin, Bin Li, Chun Wai Wong +3
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these re…
Deformable Object Manipulation With Constraints Using Path Set Planning and Tracking
Jing Huang, Xiangyu Chu, Xin Ma +1
In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefor…
Bootstrapping Robotic Skill Learning With Intuitive Teleoperation: Initial Feasibility Study
Xiangyu Chu, Yunxi Tang, Lam Him Kwok +2
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in nat…
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…
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…
Open-source High-precision Autonomous Suturing Framework With Visual Guidance
Hongbin Lin, Bin Li, Yunhui Liu +1
Autonomous surgery has attracted increasing attention for revolutionizing robotic patient care, yet remains a distant and challenging goal. In this paper, we propose an image-based…
Inequality Constrained Trajectory Optimization with A Hybrid Multiple-shooting iLQR
Yunxi Tang, Xiangyu Chu, Wanxin Jin +1
Trajectory optimization has been used extensively in robotic systems. In particular, iterative Linear Quadratic Regulator (iLQR) has performed well as an off-line planner and onlin…
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…