15 citations · 23 across the 8 of their papers we have counts for
8 papers
Harnessing with Twisting: Single-Arm Deformable Linear Object Manipulation for Industrial Harnessing Task
Xiang Zhang, Hsien-Chung Lin, Yu Zhao +1
Wire-harnessing tasks pose great challenges to be automated by the robot due to the complex dynamics and unpredictable behavior of the deformable wire. Traditional methods, often r…
Learning from Local Experience: Informed Sampling Distributions for High Dimensional Motion Planning
Keita Kobashi, Changhao Wang, Yu Zhao +2
This paper presents a sampling-based motion planning framework that leverages the geometry of obstacles in a workspace as well as prior experiences from motion planning problems. P…
Efficient Trajectory Optimization for Robot Motion Planning
Yu Zhao, Hsien-Chung Lin, Masayoshi Tomizuka
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However…
SERoCS: Safe and Efficient Robot Collaborative Systems for Next Generation Intelligent Industrial Co-Robots
Changliu Liu, Te Tang, Hsien-Chung Lin +2
Human-robot collaborations have been recognized as an essential component for future factories. It remains challenging to properly design the behavior of those co-robots. Those rob…
A Learning Framework for Robust Bin Picking by Customized Grippers
Yongxiang Fan, Hsien-Chung Lin, Te Tang +1
Customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the grasp robustness. However, grasp planning for customized gri…
Real-Time Grasp Planning for Multi-Fingered Hands by Finger Splitting
Yongxiang Fan, Te Tang, Hsien-Chung Lin +1
Grasp planning for multi-fingered hands is computationally expensive due to the joint-contact coupling, surface nonlinearities and high dimensionality, thus is generally not afford…
Grasp Planning for Customized Grippers by Iterative Surface Fitting
Yongxiang Fan, Hsien-Chung Lin, Te Tang +1
Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to inc…
Real-Time Robust Finger Gaits Planning under Object Shape and Dynamics Uncertainties
Yongxiang Fan, Te Tang, Hsien-Chung Lin +2
Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform large-scale manipulation tasks for various objects, a multi-fingered robotic…