64 citations · 96 across the 18 of their papers we have counts for
5 papers · 1 filter
Trajectory Splitting: A Distributed Formulation for Collision Avoiding Trajectory Optimization
Changhao Wang, Jeffrey Bingham, Masayoshi Tomizuka
Efficient trajectory optimization is essential for avoiding collisions in unstructured environments, but it remains challenging to have both speed and quality in the solutions. One…
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…
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…
Contact Pose Identification for Peg-in-Hole Assembly under Uncertainties
Shiyu Jin, Xinghao Zhu, Changhao Wang +1
Peg-in-hole assembly is a challenging contact-rich manipulation task. There is no general solution to identify the relative position and orientation between the peg and the hole. I…