Yuanpei Cai — accepted AI-conference papers

2021

Non-Fixed Contact Manipulation Control Framework for Deformable Objects With Active Contact Adjustment

Jing Huang, Yuanpei Cai, Xiangyu Chu, Russell H. Taylor, K. W. Samuel Au

RA-L 2021

The assumption of fixed contact between robots and deformable objects (DOs) is widely used by previous DO manipulation (DOM) studies. However, the fixed contact setting is inapplicable to many real-life applications due to various factors, such as the end-effector's type and the DO's intrinsic mater

Cited by 13 Source ↗Scholar ↗

2018

A Compliant Robotic Instrument With Coupled Tendon Driven Articulated Wrist Control for Organ Retraction

Xiangyu Chu, Hoi Wut Yip, Yuanpei Cai, Tsz Yin Chung, Stuart Moran, Kwok Wai Samuel Au

RA-L 2018

Organ retraction is a common and important task in minimally invasive surgery. It is a surgical technique to push aside or manipulate tissues/organs to improve the access and visualization of the surgical sites. Typical manual retractors are rigid and without any articulation. Physicians often strug

Cited by 13 Source ↗Scholar ↗