Xinyang Tian — accepted AI-conference papers

2025

Tracking Control of 7-DOF Redundant Manipulators with Enhanced Null Space Compliance

IROS 2025

In this paper, the problem of controlling the 7 degree-of-freedom (DOF) redundant manipulator accurately executing tasks along a desired trajectory with time-varying position and orientation while addressing a constrained compliant behavior within the null space is considered. The objective of this

Cited by 0 Source ↗Scholar ↗

2023

Simplified Configuration Design of Anthropomorphic Hand Imitating Specific Human Hand Grasps

Xinyang Tian, Qiang Zhan, Yin Zhang, Junyi Zou, Lingxiao Jiang, Qinhuan Xu

RA-L 2023

How to design an anthropomorphic hand imitating specific human hand grasps with as few actuators as possible is still a challenge. This letter presents a method for obtaining a simplified configuration of anthropomorphic hand imitating specific human hand grasps based on the motion analyses of the h

Cited by 2 Source ↗Scholar ↗