64 citations · 82 across the 7 of their papers we have counts for
4 papers · 1 filter
Safe Online Gain Optimization for Variable Impedance Control
Changhao Wang, Zhian Kuang, Xiang Zhang +1
Smooth behaviors are preferable for many contact-rich manipulation tasks. Impedance control arises as an effective way to regulate robot movements by mimicking a mass-spring-dampin…
Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks
Xiang Zhang, Shiyu Jin, Changhao Wang +2
This paper introduces a discrete-continuous action space to learn insertion primitives for robotic assembly tasks. Primitive is a sequence of elementary actions with certain exit c…
Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks
Xiang Zhang, Liting Sun, Zhian Kuang +1
Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and enviro…
Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators
Zhian Kuang, Xiang Zhang, Liting Sun +2
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most m…