Shuai Heng — accepted AI-conference papers

2020

Force-Guided High-Precision Grasping Control of Fragile and Deformable Objects Using sEMG-Based Force Prediction

Ruoshi Wen, Kai Yuan, Qiang Wang, Shuai Heng, Zhibin Li

RA-L 2020

Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human sensory-motor synergies in a wearable and non-invasive way. We extra

Cited by 43 Source ↗Scholar ↗

2020

Learning Natural Locomotion Behaviors for Humanoid Robots Using Human Bias

Chuanyu Yang, Kai Yuan, Shuai Heng, Taku Komura, Zhibin Li

RA-L 2020

This letter presents a new learning framework that leverages the knowledge from imitation learning, deep reinforcement learning, and control theories to achieve human-style locomotion that is natural, dynamic, and robust for humanoids. We proposed novel approaches to introduce human bias, i.e. motio

Cited by 50 Source ↗Scholar ↗