3 papers
cs.RO2026
Distributed Virtual Model Control for Scalable Human-Robot Collaboration in Shared Workspace
Yi Zhang, Omar Faris, Chapa Sirithunge +3
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and…
cs.NE2025
Co-design is powerful and not free
Yi Zhang, Yue Xie, Tao Sun +1
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that emb…
cs.RO2025
Periodic robust robotic rock chop via virtual model control
Yi Zhang, Fumiya Iida, Fulvio Forni
Robotic cutting is a challenging, contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion re…