7 accepted papers
Driven by significant advancements in structure, sensors, and control algorithms, multi-fingered hand systems have received increasing attention from both academia and industry. While existing research primarily focuses on the interaction static rigid objects manipulation, real-world scenarios often
Although many impressive advances have been reported in the table tennis robots field using reinforcement learning method, challenges related to policy complexity and adaptability continue to hinder large-scale deployment and practical applications. In this work, building upon extensive prior studie
Table tennis robots have significantly advanced in performance owing to the rapid progress in deep learning and reinforcement learning technologies. However, these advancements often require a large number of training samples. Besides, research focused on the robot serve task remains relatively limi
In this letter, we propose a combination of sensing and control modules for catching soft objects (i.e., a marshmallow and paper balloon) at a high speed with small deformation. A paper balloon and marshmallow are deformed by a small force and they have individual differences in terms of softness. T
In this study, the impedance control for smoothly receiving the impact of an incoming object is designed and realized. The control strategy is based on the idea that the back drive motion of an end effector attributable to the collision impact is regarded as plastic deformation of the robot. The imp
In this study, a deformation control with spatial decoupling properties is designed and implemented. This control strategy treats the shift in position and posture attributable to an external force as the deformation of the robot. The deformation dynamics are constructed from the Maxwell and Voigt m…
A visually guided shock absorber for high-speed catching without rebound is designed and realized. This visual shock absorber is based on the Maxwell model, which uses plastic deformation to suppress rebounding. The shock absorber is constructed from a spring-based passive elastic body and a servo c…