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Interactive Motion Planning for Human-Robot Collaboration Based on Human-Centric Configuration Space Ergonomic Field
Chenzui Li, Yiming Chen, Xi Wu +4
Industrial human-robot collaboration requires motion planning that is collision-free, responsive, and ergonomically safe to reduce fatigue and musculoskeletal risk. We propose the…
Integrating Ergonomics and Manipulability for Upper Limb Postural Optimization in Bimanual Human-Robot Collaboration
Chenzui Li, Yiming Chen, Xi Wu +2
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing…
Human-Like Robot Impedance Regulation Skill Learning from Human-Human Demonstrations
Chenzui Li, Xi Wu, Yiming Chen +5
Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their pa…
Learning Goal-oriented Bimanual Dough Rolling Using Dynamic Heterogeneous Graph Based on Human Demonstration
Junjia Liu, Chenzui Li, Shixiong Wang +4
Soft object manipulation poses significant challenges for robots, requiring effective techniques for state representation and manipulation policy learning. State representation inv…
BiRP: Learning Robot Generalized Bimanual Coordination using Relative Parameterization Method on Human Demonstration
Junjia Liu, Hengyi Sim, Chenzui Li +1
Human bimanual manipulation can perform more complex tasks than a simple combination of two single arms, which is credited to the spatio-temporal coordination between the arms. How…