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cs.RO2026
FORTE: Task-Adaptive Force Capability Optimization for Mobile Manipulators
Xiao Wang, Heng Zhang, Gokhan Solak +2
Effective physical interaction control in robotic manipulation requires not only kinematically feasible motion but also sufficient force-interaction capability. Existing redundancy…
cs.RO2025
HiBerNAC: Hierarchical Brain-inspired Robotic Neural Agent Collective for Disentangling Complex Manipulation
Hongjun Wu, Heng Zhang, Pengsong Zhang +2
Recent advances in multimodal vision-language-action (VLA) models have revolutionized traditional robot learning, enabling systems to interpret vision, language, and action in unif…
cs.RO2023
An Intraoperative Force Perception and Signal Decoupling Method on Capsulorhexis Forceps
Heng Zhang
Force perception on medical instruments is critical for understanding the mechanism between surgical tools and tissues for feeding back quantized force information, which is essent…