4 papers · 2 filters
Grasping Force Control and Adaptation for a Cable-Driven Robotic Hand
Eric Mountain, Ean Weise, Sibo Tian +3
This paper introduces a unique force control and adaptation algorithm for a lightweight and low-complexity five-fingered robotic hand, namely an Integrated-Finger Robotic Hand (IFR…
Integrating Uncertainty-Aware Human Motion Prediction into Graph-Based Manipulator Motion Planning
Wansong Liu, Kareem Eltouny, Sibo Tian +2
There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to…
KG-Planner: Knowledge-Informed Graph Neural Planning for Collaborative Manipulators
Wansong Liu, Kareem Eltouny, Sibo Tian +2
This paper presents a novel knowledge-informed graph neural planner (KG-Planner) to address the challenge of efficiently planning collision-free motions for robots in high-dimensio…
A Recurrent Neural Network Enhanced Unscented Kalman Filter for Human Motion Prediction
Wansong Liu, Sibo Tian, Boyi Hu +2
This paper presents a deep learning enhanced adaptive unscented Kalman filter (UKF) for predicting human arm motion in the context of manufacturing. Unlike previous network-based m…