10 accepted papers
The simple and modular structure of cable-driven parallel robots (CDPRs) can enable effective real-time reconfiguration. In this paper, an online reconfiguration strategy is proposed for a 3-DOF point-mass CDPR to adjust the cable anchor positions and enhance its performance in physical human-robot
Grasp and in-hand manipulation of dexterous hands are essential for daily operational tasks. In this study, an optimized design method for a novel anthropomorphic dexterous hand is proposed, which improves the comprehensive performance of grasp and manipulability of the dexterous hand. The constrain
Low stiffness in 7-DOF cable-driven humanoid manipulators limits their precision, posing a significant challenge in complex human-robot interaction (HRI) scenarios. This paper presents a motion planning framework to enhance manipulator stiffness for both single and dual-arm configurations. For a sin
Self-balancing lower limb rehabilitation exoskeletons (SLLREs) allow individuals with lower limb dysfunction to walk without the use of crutches. Stable and human-like walking motions are crucial for SLLREs because achieving a close imitation of healthy human walking is a key goal in rehabilitation
The automatic extinguishing strategy (AES) is the core of the decision-making system for intelligent firefighting robots. Inspired by the fire extinguishing action of firefighters, designing a vision-based end-to-end AES aligns with human intuition. However, the cost of training agents to learn AES
Natural language processing models are vulnerable to adversarial examples. Previous textual adversarial attacks adopt model internal information (gradients or confidence scores) to generate adversarial examples. However, this information is unavailable in the real world. Therefore, we focus on a mo…
Five-hundred-meter aperture spherical radio telescope (FAST) is a very famous large-scale scientific facility with excellent performance for astronomical observation in the world, but it currently fails to observe the center of the Milky Way Galaxy due to the limited observation angle that is affect…
The lightweight design of robots is an important factor in the field of human-robot interaction. Thus, a lightweight 7-DOF cable-driven manipulator is proposed and manufactured, including a shoulder joint with 3-DOF, an elbow joint with 1-DOF, and a wrist joint with 3-DOF. The offset design of the s
Dynamic movement primitives (DMPs) are a flexible trajectory learning scheme widely used in motion generation of robotic systems. However, existing DMP-based methods mainly focus on simple go-to-goal tasks. Motivated to handle tasks beyond point-to-point motion planning, this work presents temporal…
Cable-driven parallel robots (CDPRs) are robots with novel structures, wherein flexible cables, instead of rigid links, are employed to pull mobile platforms. This structural change enables CDPRs to not only offer potential advantages, but also introduces control challenges with regard to frictional