4 papers · 1 filter
Behavior--Realization Separation for Constrained Physical Human--Robot Interaction
Yongyan Cao
Physical human--robot interaction software often couples desired-behavior specification with constrained realization; we treat these as separate layers. A \emph{behavior layer} sup…
Interaction Dynamics for Dexterous Manipulation
Yongyan Cao
Dexterous manipulation is fundamentally a problem of interaction dynamics: the hand must track precise finger trajectories, regulate the contact force exchanged with grasped object…
Contact-Consistent Interaction Dynamics Normalization for Predictive Physical Human--Robot Interaction
Yongyan Cao
Safe physical human--robot interaction on floating-base robots requires interaction regulation under changing contact constraints. We develop a contact-consistent normalization in…
Toward Interaction Dynamics: A Predictive Framework for Safe Physical Human Robot Interaction
Yongyan Cao, Jinshan Tang
Physical human-robot interaction requires yielding transiently to contact yet recovering the commanded reference under sustained load. Finite-stiffness impedance control retains a…