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面向物理人机协作场景的示教学习和变阻抗控制方法研究 学位论文
, 2023
Authors:  曹然
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人机协作  阻抗控制  示教学习  
A neural network based framework for variable impedance skills learning from demonstrations 期刊论文
ROBOTICS AND AUTONOMOUS SYSTEMS, 2023, 卷号: 160, 页码: 10
Authors:  Zhang, Yu;  Cheng, Long;  Cao, Ran;  Li, Houcheng;  Yang, Chenguang
Adobe PDF(3824Kb)  |  Favorite  |  View/Download:327/61  |  Submit date:2023/02/22
Variable impedance skill  Learning from demonstrations  Skills learning  Human-robot interaction  
Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach 期刊论文
IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 卷号: 7, 期号: 2, 页码: 1510-1517
Authors:  Zhang, Yu;  Cheng, Long;  Li, Houcheng;  Cao, Ran
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Point-to-point tasks  neural network  dynamic system  generalization performance  high dimensional data  
Distributed Dynamic Event-Triggered Control for Euler-Lagrange Multiagent Systems With Parametric Uncertainties 期刊论文
IEEE TRANSACTIONS ON CYBERNETICS, 2021, 页码: 13
Authors:  Cao, Ran;  Cheng, Long
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Vehicle dynamics  Nonlinear dynamical systems  Symmetric matrices  Laplace equations  Heuristic algorithms  Directed graphs  Robot sensing systems  Consensus  containment  dynamic event-triggered control  Euler-Lagrange system  multiagent systems (MASs)  
Design and Control of an Underactuated Finger Exoskeleton for Assisting Activities of Daily Living 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2021, 页码: 11
Authors:  Li, Houcheng;  Cheng, Long;  Sun, Ning;  Cao, Ran
Adobe PDF(1769Kb)  |  Favorite  |  View/Download:246/35  |  Submit date:2022/01/27
Exoskeletons  Grasping  Electronics packaging  Kinematics  Senior citizens  Robots  Shape  Admittance control  assistance  finger exoskeleton  preshaping  shape-adaptive grasping  underactuation  
Iterative assist-as-needed control with interaction factor for rehabilitation robots 期刊论文
SCIENCE CHINA-TECHNOLOGICAL SCIENCES, 2021, 页码: 11
Authors:  Cao, Ran;  Cheng, Long;  Yang, ChenGuang;  Dong, Zhe
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human-robot interaction  impedance  stiffness  control  rehabilitation