Zilian Yi — accepted AI-conference papers

2023

A Mangasarian-Soldov Function Based Neural Network for Constrained Control of Parallel and Serial Robots

Weibing Li, Yanying Zou, Zilian Yi, Haimei Wu, Yongping Pan

IROS 2023poster

Zeroing neural networks (ZNNs) are powerful alternatives to solving quadratic programming (QP) for constrained control of parallel and serial robots. A recent study showed that a ZNN solver designed based on a perturbed Fischer-Burmeister function (pFB-ZNN) achieves more satisfactory performance tha…

Cited by 0 Source ↗Scholar ↗

2023

A Novel Obstacle-Avoidance Solution With Non-Iterative Neural Controller for Joint-Constrained Redundant Manipulators

Weibing Li, Zilian Yi, Yanying Zou, Haimei Wu, Yang Yang, Yongping Pan

IROS 2023poster

Obstacle avoidance (OA) and joint-limit avoidance (JLA) are essential for redundant manipulators to ensure safe and reliable robotic operations. One solution to OA and JLA is to incorporate the involved constraints into a quadratic programming (QP), by solving which OA and JLA can be achieved. There…

Cited by 1 Source ↗Scholar ↗