1 citations · 4 across the 6 of their papers we have counts for
6 papers
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…
Development of Soft Tactile Sensor for Force Measurement and Position Detection
Wu-Te Yang, Zhian Kuang, Changhao Wang +1
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors a…
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…
Practical Fractional-Order Variable-Gain Super-Twisting Control with Application to Wafer Stages of Photolithography Systems
Zhian Kuang, Liting Sun, Huijun Gao +1
In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufa…
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…
Precise Motion Control of Wafer Stages via Adaptive Neural Network and Fractional-Order Super-Twisting Algorithm
Zhian Kuang, Liting Sun, Huijun Gao +1
To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC),…