4 papers · 1 filter
H-PAC Hand: Control-Oriented Modeling and Tendon-Elasticity Compensation for an Underactuated Robotic Hand
Teng Yan, Jiongxu Chen, Teng Wang +5
Underactuated tendon-driven hands offer compact actuation and passive compliance, but tendon elongation under restoring-spring loading introduces configuration-dependent joint devi…
Bridging Discrete Planning and Continuous Execution for Redundant Robot
Teng Yan, Yue Yu, Yihan Liu +1
Voxel-grid reinforcement learning is widely adopted for path planning in redundant manipulators due to its simplicity and reproducibility. However, direct execution through point-w…
PHANTOM Hand
Teng Yan, Jiongxu Chen, Qixiang Hua +4
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their…
Agile-VLA: Few-Shot Industrial Pose Rectification via Implicit Affordance Anchoring
Teng Yan, Zhengyang Pei, Chengyu Shi +8
Deploying Vision-Language-Action (VLA) models on resource-constrained edge platforms encounters a fundamental conflict between high-latency semantic inference and the high-frequenc…