6 papers
Whole-Body Motion Guided Reference Generation for Uncertainty-Aware Compliant Assistance
Muyuan Ma, Long Cheng, Lijun Han +5
Exoskeletons have shown great potential for augmenting human physical capabilities, yet generating reliable assistance remains challenging because human motion patterns and interac…
CHOREO: Every Humanoid Skill as a Trajectory
Ziyi Sun, Jingwen Chen, Yuxi Wang +4
Recent advances in humanoid robotics have produced diverse skills through reinforcement learning, motion imitation, and generative modeling. Yet these capabilities remain siloed be…
Ensuring Interaction Safety in Multitask Exoskeleton Control: A Simulation-Trained Variable Impedance Framework
Muyuan Ma, Houcheng Li, Haotian Zhai +4
Wearable exoskeletons can augment human phys ical capabilities during complex activities. However, ensuring adaptation across diverse tasks while guaranteeing interaction safety re…
Motion Adaptation Across Users and Tasks for Exoskeletons via Meta-Learning
Muyuan Ma, Long Cheng, Lijun Han +2
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms rema…
Learning a Stable Dynamic System with a Lyapunov Energy Function for Demonstratives Using Neural Networks
Yu Zhang, Yongxiang Zou, Haoyu Zhang +2
Autonomous Dynamic System (DS)-based algorithms hold a pivotal and foundational role in the field of Learning from Demonstration (LfD). Nevertheless, they confront the formidable c…
Learning Variable Impedance Skills from Demonstrations with Passivity Guarantee
Yu Zhang, Long Cheng, Xiuze Xia +1
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with…