14 citations · 44 across the 15 of their papers we have counts for
15 papers
Propeller-Assisted Robust 3D Hopping Robot with Hierarchical Force Allocation
Chuhan Zhang, Hongbo Zhang, Yanlin Chen +4
Monopedal hopping robots are conceptually simple but highly dynamic and inherently unstable. Achieving robust 3D hopping is still difficult because ground reaction forces are avail…
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…
Needle Segmentation Using GAN: Restoring Thin Instrument Visibility in Robotic Ultrasound
Zhongliang Jiang, Xuesong Li, Xiangyu Chu +5
Ultrasound-guided percutaneous needle insertion is a standard procedure employed in both biopsy and ablation in clinical practices. However, due to the complex interaction between…
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…
VibNet: Vibration-Boosted Needle Detection in Ultrasound Images
Dianye Huang, Chenyang Li, Angelos Karlas +4
Precise percutaneous needle detection is crucial for ultrasound (US)-guided interventions. However, inherent limitations such as speckles, needle-like artifacts, and low resolution…
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…
Interactive Navigation in Environments with Traversable Obstacles Using Large Language and Vision-Language Models
Zhen Zhang, Anran Lin, Chun Wai Wong +3
This paper proposes an interactive navigation framework by using large language and vision-language models, allowing robots to navigate in environments with traversable obstacles.…
Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study
Xiangyu Chu+, Shengzhi Wang+, Minjian Feng +4
Cloth manipulation is common in domestic and service tasks, and most studies use fixed-base manipulators to manipulate objects whose sizes are relatively small with respect to the…
End-to-End Learning of Deep Visuomotor Policy for Needle Picking
Hongbin Lin, Bin Li, Xiangyu Chu +3
Needle picking is a challenging manipulation task in robot-assisted surgery due to the characteristics of small slender shapes of needles, needles' variations in shapes and sizes,…
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…
Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail
Yunxi Tang, Jiajun An, Xiangyu Chu +3
Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot…
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…