The uncertainty and dynamic of home environment present great challenges to the task
planning of service robots. The nature of the home environment is highly unstructured, with a …

One promising approach for robots efficiently learning skills is to learn manipulation skills
from human tutors by demonstration and then generalize these learned skills to complete …

In recent years, numerous studies have been conducted to analyze how humans
subconsciously optimize various performance criteria while performing a particular task …

This paper aims to improve the interaction and coordination between the human and the
robot in cooperative execution of complex, powerful, and dynamic tasks. We propose a …

In this paper, we propose a method for selective monitoring and management of human
muscle fatigue in human-robot co-manipulation scenarios. The proposed approach uses a …

Motivated by the need of a robust and practical inverse kinematics (IK) algorithm for the
WAM robot arm, we reviewed the most used closed-loop IK methods for redundant robots …

Dynamic movement primitives (DMPs) have been widely applied in robot motion planning
and control. However, in some special cases, original discrete DMP fails to generalize …

This paper presents a novel approach for human-robot cooperation in tasks with dynamic
uncertainties. The essential element of the proposed method is a multi-modal interface that …

The rotational motion of a tumbling target brings great challenges to space robot on
successfully capturing the tumbling target. Therefore, it is necessary to reduce the target's …

For a class of nonspherical-wrist manipulators, ie, redundant or nonredundant, we propose
unified singularity analysis and computation-effective avoidance methods. First, we construct …