3 papers
cs.RO2026
Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics
Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao +5
Ship-borne manipulators operating in maritime environments are subject to stochastic wave-induced base motions that introduce kinematic disturbances and dynamic coupling, degrading…
cs.RO2026
Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
Zhe Zhang, Xingrong Diao, Haoxiang Liang +4
We propose an optimization-based framework for robust contact-rich manipulation. Recent contact-implicit methods enable online hybrid planning across contact modes, allowing closed…
cs.RO2023
Mani-GPT: A Generative Model for Interactive Robotic Manipulation
Zhe Zhang, Wei Chai, Jiankun Wang
In real-world scenarios, human dialogues are multi-round and diverse. Furthermore, human instructions can be unclear and human responses are unrestricted. Interactive robots face d…