193 citations · 255 across the 17 of their papers we have counts for
12 papers · 1 filter
Sensorless Estimation of Contact Using Deep-Learning for Human-Robot Interaction
Shilin Shan, Quang-Cuong Pham
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external t…
Real-time Batched Distance Computation for Time-Optimal Safe Path Tracking
Shohei Fujii, Quang-Cuong Pham
In human-robot collaboration, there has been a trade-off relationship between the speed of collaborative robots and the safety of human workers. In our previous paper, we introduce…
Planning Optimal Trajectories for Mobile Manipulators under End-effector Trajectory Continuity Constraint
Quang-Nam Nguyen, Quang-Cuong Pham
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enab…
Reinforcement Learning with Parameterized Manipulation Primitives for Robotic Assembly
Nghia Vuong, Quang-Cuong Pham
A common theme in robot assembly is the adoption of Manipulation Primitives as the atomic motion to compose assembly strategy, typically in the form of a state machine or a graph.…
Contact Reduction with Bounded Stiffness for Robust Sim-to-Real Transfer of Robot Assembly
Nghia Vuong, Quang-Cuong Pham
In sim-to-real Reinforcement Learning (RL), a policy is trained in a simulated environment and then deployed on the physical system. The main challenge of sim-to-real RL is to over…
Time-Optimal Path Tracking with ISO Safety Guarantees
Shohei Fujii, Quang-Cuong Pham
One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is…
Task-Space Clustering for Mobile Manipulator Task Sequencing
Quang-Nam Nguyen, Nicholas Adrian, Quang-Cuong Pham
Mobile manipulators have gained attention for the potential in performing large-scale tasks which are beyond the reach of fixed-base manipulators. The Robotic Task Sequencing Probl…
Adaptive-saturated RNN: Remember more with less instability
Khoi Minh Nguyen-Duy, Quang Pham, Binh T. Nguyen
Orthogonal parameterization is a compelling solution to the vanishing gradient problem (VGP) in recurrent neural networks (RNNs). With orthogonal parameters and non-saturated activ…
Learning for Amalgamation: A Multi-Source Transfer Learning Framework For Sentiment Classification
Cuong V. Nguyen, Khiem H. Le, Anh M. Tran +2
Transfer learning plays an essential role in Deep Learning, which can remarkably improve the performance of the target domain, whose training data is not sufficient. Our work explo…
Time-Optimal Control via Heaviside Step-Function Approximation
Kai Pfeiffer, Quang-Cuong Pham
Least-squares programming is a popular tool in robotics due to its simplicity and availability of open-source solvers. However, certain problems like sparse programming in the $\el…
Geometry-Aware Coverage Path Planning for Depowdering on Complex 3D Surfaces
Van-Thach Do, Quang-Cuong Pham
This paper presents a new approach to obtaining nearly complete coverage paths (CP) with low overlapping on 3D general surfaces using mesh models. The CP is obtained by segmenting…
Fine Robotic Manipulation without Force/Torque Sensor
Shilin Shan, Quang-Cuong Pham
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effect…