Miaolong Yuan — accepted AI-conference papers

2023

A Minimal Collision Strategy of Synergy Between Pushing and Grasping for Large Clusters of Objects

Chong Chen, ShiJun Yan, Miaolong Yuan, ChiatPin Tay, Dongkyu Choi, Quang Dan Le

IROS 2023poster

Grasping and moving objects in a large cluster is a common real scenario. In such scenarios, tens of objects are adjacent to each other, even stacked layer by layer, so that simple grasp would not work due to obstruction. In this paper, we propose a well-designed strategy to use synergy of pushing a…

Cited by 2 Source ↗Scholar ↗

2019

Asymptotic Stabilization of Nonholonomic Robots Leveraging Singularity

Zhengguo Li, Wenchao Gao, Changzuo Goh, Miaolong Yuan, Eam Khwang Teoh, Qinyuan Ren

RA-L 2019

Due to the nonholonomic constraints as well as the constraints on torque and power resources, it is challenging to design a controller to asymptotically stabilize a nonholonomic robot at a predefined pose. In this paper, a switched controller is introduced for the asymptotic stabilization of nonholo

Cited by 21 Source ↗Scholar ↗