7 accepted papers
For peg-in-hole tasks, humans rely on binocular visual perception to locate the peg above the hole surface and then proceed with insertion. This paper draws insights from this behavior to enable agents to learn efficient assembly strategies through visual reinforcement learning. Hence, we propose a
Piano-playing tasks, which effectively demonstrate bimanual coordination capabilities in humanoid robots, are increasingly becoming a research focus. However, prior research has predominantly focused on Cartesian space trajectory planning without adequately addressing real-world obstacle avoidance c
The construction of large-scale space facilities requires the use of on-orbit construction technology. However, several of its key components, such as standard interface design, compliant control methods, and path planning for multi-branch robots, still need improvement before practical application.…
Sampling-based motion planning (SBMP) algorithms are renowned for their robust global search capabilities. However, the inherent randomness in their sampling mechanisms often results in inconsistent path quality and limited search efficiency. In response to these challenges, this work proposes a nov
Controlling multi-grasp prosthetic hands remains challenging due to the lack of an intuitive and efficient interface for enabling a suitable grasping pattern. To solve this problem, we propose an eye-tracking based grasp switching interface (i-GSI) that integrates the “GazeButton” from augmented rea
Collision-free motion planning allows robots to perform tasks in complex environments, but the conservative bounding curves during collision detection will reduce the robot's dexterity. This paper presents a novel algorithm for real-time motion planning of non-holonomic robots in dynamic scenes. To
How to design a robotic hand for reproducing the move characteristics of human hand joints is a big challenge in robotics. In this paper, we present an approach to determine the actuation configuration based on the statistical results of hand joint angle in different grasps. A relationship between t…