1 citations · 1 across the 8 of their papers we have counts for
9 papers
Arm-Aware Guided Dexterous Grasp Generation with Arm-Agnostic Grasp Models
Yongyi Jia, Yongpeng Jiang, Kangchen Lv +3
Dexterous grasp generation that considers arm-related constraints is crucial in real-world scenarios involving arm environment collision avoidance, workspace boundary grasps, and c…
CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty
Mingrui Yu, Yongpeng Jiang, Yongyi Jia +2
While recent research has focused heavily on dexterous grasp pose generation, less attention has been devoted to the execution of planned grasps. Under shape and position uncertain…
HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors
Mingrui Yu, Yongpeng Jiang, Yongyi Jia +4
Dexterous grasping across diverse object scales requires contact modes ranging from two-finger pinches to bimanual grasps. Existing dexterous grasp synthesis methods reduce the hig…
Analyzing Key Objectives in Human-to-Robot Retargeting for Dexterous Manipulation
Chendong Xin, Mingrui Yu, Yongpeng Jiang +2
Kinematic retargeting from human hands to robot hands is essential for transferring dexterity from humans to robots in manipulation teleoperation and imitation learning. However, d…
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking
Yongpeng Jiang, Mingrui Yu, Xinghao Zhu +2
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications.…
Robotic In-Hand Manipulation for Large-Range Precise Object Movement: The RGMC Champion Solution
Mingrui Yu, Yongpeng Jiang, Chen Chen +2
In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter fo…
A Unified Interaction Control Framework for Safe Robotic Ultrasound Scanning with Human-Intention-Aware Compliance
Xiangjie Yan, Shaqi Luo, Yongpeng Jiang +6
The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for ultrasound scanning address only one specifi…
Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach
Yongpeng Jiang, Mingrui Yu, Xinghao Zhu +2
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inferen…
Generalizable whole-body global manipulation of deformable linear objects by dual-arm robot in 3-D constrained environments
Mingrui Yu, Kangchen Lv, Changhao Wang +3
Constrained environments are common in practical applications of manipulating deformable linear objects (DLOs), where movements of both DLOs and robots should be constrained. This…