Simultaneously learning of motion, stiffness, and force from human demonstration based on riemannian dmp and qp optimization
In this paper, we propose a motion, stiffness, and force learning framework based on an
extended dynamic movement primitive (DMP) and quadratic programming (QP) …
extended dynamic movement primitive (DMP) and quadratic programming (QP) …
Learning target-directed skill and variable impedance control from interactive demonstrations for robot-assisted soft tissue puncture tasks
X Zhai, L Jiang, H Wu, H Zheng, D Liu… - IEEE Transactions …, 2024 - ieeexplore.ieee.org
A framework is proposed in this paper for learning variable impedance in percutaneous
puncture surgery, with the aim of simplifying the robotic puncture of soft tissues. The …
puncture surgery, with the aim of simplifying the robotic puncture of soft tissues. The …
TeachingBot: Robot Teacher for Human Handwriting
Teaching physical skills to humans requires one-on-one interaction between the teacher
and the learner. With a shortage of human teachers, such a teaching mode faces the …
and the learner. With a shortage of human teachers, such a teaching mode faces the …
Vision-based Defects Detection and Interactive Impedance Control in Robotic Automated Layup Tasks
This paper proposes a robotic automated layup framework consisting of three components:
human-robot layup skill transfer, vision-based quality detection, and adaptive impedance …
human-robot layup skill transfer, vision-based quality detection, and adaptive impedance …