3 papers
cs.RO2026
Learning-Enhanced Observer for Sensorless Task-Null-Space Compliant Control
Nuo Chen, Ya-Jun Pan, Onur Toker
This paper presents a novel framework integrating a robust wrench observer with a hybrid pose and force controller for physical Human-Robot Interaction (pHRI). In pHRI tasks, robot…
cs.RO2026
Human-Robot Interaction via Meta-Learning Based Mode Recognition and Adaptive Control
Nuo Chen, Ya-Jun Pan
In human-robot interaction (HRI) tasks, humans may interact with the robot in either an active guiding or passive following state, resulting in distinct control objectives for each…
eess.SY2024
An Optimal Task Planning and Agent-aware Allocation Algorithm in Collaborative Tasks Combining with PDDL and POPF
Qiguang Chen, Ya-Jun Pan
Industry 4.0 proposes the integration of artificial intelligence (AI) into manufacturing and other industries to create smart collaborative systems which enhance efficiency. The ai…