From 534c71e6d00c06d5d40a02f2d82d1e0abf00cb2d Mon Sep 17 00:00:00 2001 From: CalaW Date: Sat, 28 Mar 2026 20:21:45 +0800 Subject: [PATCH] sort bibtex using bibtex-tidy. ```shell bibtex-tidy --numeric --no-align --blank-lines --sort=-year,-month --duplicates=key --no-escape --sort-fields --remove-empty-fields --no-remove-dupe-fields YOUR_FILE.bib ``` --- _bibliography/papers.bib | 386 +++++++++++++++++++-------------------- 1 file changed, 193 insertions(+), 193 deletions(-) diff --git a/_bibliography/papers.bib b/_bibliography/papers.bib index cdd8fec5..e6b0155c 100644 --- a/_bibliography/papers.bib +++ b/_bibliography/papers.bib @@ -3,12 +3,12 @@ @article{jiang2026robust author = {Jiang, Yongpeng and Yu, Mingrui and Chen, Chen and Jia, Yongyi and Li, Xiang}, year = 2026, journal = {IEEE Robotics and Automation Practice}, - volume = {1}, + volume = 1, pages = {12--17}, doi = {10.1109/RAP.2025.3633232}, bibtex_show = {true}, preview = {jiang2026robust.gif}, - website = {https://rgmc-xl-team.github.io/inhand_reorientation/}, + website = {https://rgmc-xl-team.github.io/inhand_reorientation/} } @article{chen2026semantic, @@ -18,35 +18,52 @@ @article{chen2026semantic journal = {arXiv preprint}, arxiv = {2508.10378}, bibtex_show = {true}, - preview = {chen2026semantic.avif}, + preview = {chen2026semantic.avif} } -@article{miao2025cell, - title = {Cell Cryopreservation in a Microfluidic Chip with Vision-Based Fluid Control and Region Reaching}, - author = {Miao, Shu and Jia, Yongyi and Jiang, Ze and Xu, Jiehuan and Li, Xiang}, +@inproceedings{jia2025flowaware, + title = {Flow-Aware Navigation of Magnetic Micro-Robots in Complex Fluids via {{PINN-based}} Prediction}, + author = {Jia, Yongyi and Miao, Shu and Wu, Jiayu and Yang, Ming and Hu, Chengzhi and Li, Xiang}, year = 2025, - journal = {IEEE Transactions on Automation Science and Engineering}, - volume = {22}, - pages = {9327--9337}, - doi = {10.1109/TASE.2024.3505537}, + month = oct, + booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + publisher = {IEEE}, + address = {Hangzhou, China}, + pages = {3882--3888}, + doi = {10.1109/IROS60139.2025.11246702}, bibtex_show = {true}, - preview = {miao2025cell.avif}, + organization = {IEEE}, + preview = {jia2025flowaware.avif} } -@article{yu2025generalizable, - title = {Generalizable Whole-Body Global Manipulation of Deformable Linear Objects by Dual-Arm Robot in 3-{{D}} Constrained Environments}, - author = {Yu, Mingrui and Lv, Kangchen and Wang, Changhao and Jiang, Yongpeng and Tomizuka, Masayoshi and Li, Xiang}, +@inproceedings{chen2025ultradp, + title = {{{UltraDP}}: Generalizable Carotid Ultrasound Scanning with Force-Aware Diffusion Policy}, + author = {Chen, Ruoqu and Yan, Xiangjie and Lv, Kangchen and Huang, Gao and Li, Zheng and Li, Xiang}, year = 2025, - month = apr, - journal = {The International Journal of Robotics Research}, - volume = {44}, - number = {4}, - pages = {607--639}, - doi = {10.1177/02783649241276886}, - arxiv = {2310.09899}, + month = oct, + booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + publisher = {IEEE}, + address = {Hangzhou, China}, + pages = {20074--20080}, + doi = {10.1109/IROS60139.2025.11246769}, + arxiv = {2511.15550}, bibtex_show = {true}, - preview = {yu2025generalizable.gif}, - website = {https://mingrui-yu.github.io/DLO_planning_2/}, + preview = {chen2025ultradp.avif}, + website = {https://ultradp.github.io/} +} + +@inproceedings{miao2025transblastnet, + title = {Transblast-Net: Semantic Segmentation of Human Blastocyst Components with Composed {{CNN}} and Transformer Architecture}, + author = {Miao, Shu and Jia, Yongyi and Li, Xiang}, + year = 2025, + month = jun, + booktitle = {2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)}, + publisher = {IEEE}, + address = {Toyama, Japan}, + pages = {1265--1271}, + doi = {10.1109/RCAR65431.2025.11139400}, + bibtex_show = {true}, + preview = {miao2025transblastnet.avif} } @article{jia2025noncontact, @@ -55,13 +72,13 @@ @article{jia2025noncontact year = 2025, month = may, journal = {IEEE Robotics and Automation Letters}, - volume = {10}, - number = {5}, + volume = 10, + number = 5, pages = {4412--4419}, doi = {10.1109/LRA.2025.3551538}, arxiv = {2410.22848}, bibtex_show = {true}, - preview = {jia2025noncontact.gif}, + preview = {jia2025noncontact.gif} } @article{yu2025robotic, @@ -70,119 +87,42 @@ @article{yu2025robotic year = 2025, month = may, journal = {IEEE Robotics and Automation Letters}, - volume = {10}, - number = {5}, + volume = 10, + number = 5, pages = {4738--4745}, doi = {10.1109/LRA.2025.3555138}, arxiv = {2502.07472}, bibtex_show = {true}, preview = {yu2025robotic.gif}, - website = {https://rgmc-xl-team.github.io/ingrasp_manipulation/}, -} - -@inproceedings{miao2025transblastnet, - title = {Transblast-Net: Semantic Segmentation of Human Blastocyst Components with Composed {{CNN}} and Transformer Architecture}, - author = {Miao, Shu and Jia, Yongyi and Li, Xiang}, - year = 2025, - month = jun, - booktitle = {2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)}, - publisher = {IEEE}, - pages = {1265--1271}, - doi = {10.1109/RCAR65431.2025.11139400}, - address = {Toyama, Japan}, - bibtex_show = {true}, - preview = {miao2025transblastnet.avif}, + website = {https://rgmc-xl-team.github.io/ingrasp_manipulation/} } -@inproceedings{jia2025flowaware, - title = {Flow-Aware Navigation of Magnetic Micro-Robots in Complex Fluids via {{PINN-based}} Prediction}, - author = {Jia, Yongyi and Miao, Shu and Wu, Jiayu and Yang, Ming and Hu, Chengzhi and Li, Xiang}, +@article{yu2025generalizable, + title = {Generalizable Whole-Body Global Manipulation of Deformable Linear Objects by Dual-Arm Robot in 3-{{D}} Constrained Environments}, + author = {Yu, Mingrui and Lv, Kangchen and Wang, Changhao and Jiang, Yongpeng and Tomizuka, Masayoshi and Li, Xiang}, year = 2025, - month = oct, - booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, - publisher = {IEEE}, - pages = {3882--3888}, - doi = {10.1109/IROS60139.2025.11246702}, - address = {Hangzhou, China}, + month = apr, + journal = {The International Journal of Robotics Research}, + volume = 44, + number = 4, + pages = {607--639}, + doi = {10.1177/02783649241276886}, + arxiv = {2310.09899}, bibtex_show = {true}, - organization = {IEEE}, - preview = {jia2025flowaware.avif}, + preview = {yu2025generalizable.gif}, + website = {https://mingrui-yu.github.io/DLO_planning_2/} } -@inproceedings{chen2025ultradp, - title = {{{UltraDP}}: Generalizable Carotid Ultrasound Scanning with Force-Aware Diffusion Policy}, - author = {Chen, Ruoqu and Yan, Xiangjie and Lv, Kangchen and Huang, Gao and Li, Zheng and Li, Xiang}, +@article{miao2025cell, + title = {Cell Cryopreservation in a Microfluidic Chip with Vision-Based Fluid Control and Region Reaching}, + author = {Miao, Shu and Jia, Yongyi and Jiang, Ze and Xu, Jiehuan and Li, Xiang}, year = 2025, - month = oct, - booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, - publisher = {IEEE}, - pages = {20074--20080}, - doi = {10.1109/IROS60139.2025.11246769}, - address = {Hangzhou, China}, - arxiv = {2511.15550}, - bibtex_show = {true}, - preview = {chen2025ultradp.avif}, - website = {https://ultradp.github.io/}, -} - -@article{chen2024learning, - title = {Learning to Assist Different Wearers in Multitasks: Efficient and Individualized Human-in-the-Loop Adaptation Framework for Lower-Limb Exoskeleton}, - author = {Chen, Yu and Miao, Shu and Chen, Gong and Ye, Jing and Fu, Chenglong and Liang, Bin and Song, Shiji and Li, Xiang}, - year = 2024, - journal = {IEEE Transactions on Robotics}, - volume = {40}, - pages = {4699--4718}, - doi = {10.1109/TRO.2024.3468768}, - arxiv = {2309.14720}, - bibtex_show = {true}, - preview = {chen2024learning.gif}, -} - -@article{yan2024complementary, - title = {A Complementary Framework for Human--Robot Collaboration with a Mixed {{AR}}--Haptic Interface}, - author = {Yan, Xiangjie and Jiang, Yongpeng and Chen, Chen and Gong, Leiliang and Ge, Ming and Zhang, Tao and Li, Xiang}, - year = 2024, - month = jan, - journal = {IEEE Transactions on Control Systems Technology}, - volume = {32}, - number = {1}, - pages = {112--127}, - doi = {10.1109/TCST.2023.3301675}, - abstract = {There is invariably a tradeoff between safety and efficiency for collaborative robots (cobots) in human–robot collaborations (HRCs). Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or respond to unforeseen changes, whereas robots that work closely with humans can but only by becoming passive to humans, meaning that their main tasks are suspended and efficiency compromised. Accordingly, this article proposes a new complementary framework for HRC that balances the safety of humans and the efficiency of robots. In this framework, the robot carries out given tasks using a vision-based adaptive controller, and the human expert collaborates with the robot in the null space. Such a decoupling drives the robot to deal with existing issues in task space [e.g., uncalibrated camera, limited field of view (FOV)] and null space (e.g., joint limits) by itself while allowing the expert to adjust the configuration of the robot body to respond to unforeseen changes (e.g., sudden invasion, change in environment) without affecting the robot’s main task. In addition, the robot can simultaneously learn the expert’s demonstration in task space and null space beforehand with dynamic movement primitives (DMPs). Therefore, an expert’s knowledge and a robot’s capability are explored and complement each other. Human demonstration and involvement are enabled via a mixed interaction interface, i.e., augmented reality (AR) and haptic devices. The stability of the closed-loop system is rigorously proved with Lyapunov methods. Experimental results in various scenarios are presented to illustrate the performance of the proposed method.}, - arxiv = {2210.06003}, - bibtex_show = {true}, - preview = {yan2024complementary.avif}, -} - -@inproceedings{chen2024safe, - title = {Safe and Individualized Motion Planning for Upper-limb Exoskeleton Robots Using Human Demonstration and Interactive Learning}, - author = {Chen, Yu and Chen, Gong and Ye, Jing and Qiu, Xiangjun and Li, Xiang}, - year = 2024, - month = may, - booktitle = {2024 International Conference on Robotics and Automation (ICRA)}, - publisher = {IEEE}, - pages = {15307--15313}, - doi = {10.1109/ICRA57147.2024.10610552}, - address = {Yokohama, Japan}, - arxiv = {2309.08178}, - bibtex_show = {true}, - preview = {chen2024safe.gif}, -} - -@inproceedings{jia2024efficient, - title = {Efficient Model Learning and Adaptive Tracking Control of Magnetic Micro-Robots for Non-Contact Manipulation}, - author = {Jia, Yongyi and Miao, Shu and Zhou, Junjian and Jiao, Niandong and Liu, Lianqing and Li, Xiang}, - year = 2024, - month = may, - booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)}, - publisher = {IEEE}, - pages = {4534--4540}, - doi = {10.1109/ICRA57147.2024.10610098}, - abstract = {Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic interventions. Existing techniques commonly impart magnetic properties to the target object, or drive the robot to contact and then manipulate the object, both probably inducing physical damage. This paper considers a non-contact formulation, where the robot spins to generate a repulsive field to push the object without physical contact. Under such a formulation, the main challenge is that the motion model between the input of the magnetic field and the output velocity of the target object is commonly unknown and difficult to analyze. To deal with it, this paper proposes a data-driven-based solution. A neural network is constructed to efficiently estimate the motion model. Then, an approximate model-based optimal control scheme is developed to push the object to track a time-varying trajectory, maintaining the non-contact with distance constraints. Furthermore, a straightforward planner is introduced to assess the adaptability of non-contact manipulation in a cluttered unstructured environment. Experimental results are presented to show the tracking and navigation performance of the proposed scheme.}, - address = {Yokohama, Japan}, - arxiv = {2403.14414}, + journal = {IEEE Transactions on Automation Science and Engineering}, + volume = 22, + pages = {9327--9337}, + doi = {10.1109/TASE.2024.3505537}, bibtex_show = {true}, - preview = {jia2024efficient.avif}, + preview = {miao2025cell.avif} } @inproceedings{chen2024visual, @@ -192,12 +132,12 @@ @inproceedings{chen2024visual month = oct, booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, publisher = {IEEE}, + address = {Abu Dhabi, United Arab Emirates}, pages = {7078--7084}, doi = {10.1109/IROS58592.2024.10801930}, - address = {Abu Dhabi, United Arab Emirates}, arxiv = {2405.09359}, bibtex_show = {true}, - preview = {chen2024visual.avif}, + preview = {chen2024visual.avif} } @inproceedings{jiang2024contact, @@ -207,13 +147,13 @@ @inproceedings{jiang2024contact month = oct, booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, publisher = {IEEE}, + address = {Abu Dhabi, United Arab Emirates}, pages = {5260--5266}, doi = {10.1109/IROS58592.2024.10801751}, - address = {Abu Dhabi, United Arab Emirates}, arxiv = {2402.18897}, bibtex_show = {true}, preview = {jiang2024contact.avif}, - website = {https://director-of-g.github.io/in_hand_manipulation/}, + website = {https://director-of-g.github.io/in_hand_manipulation/} } @inproceedings{yu2024inhand, @@ -223,14 +163,14 @@ @inproceedings{yu2024inhand month = oct, booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, publisher = {IEEE}, + address = {Abu Dhabi, United Arab Emirates}, pages = {13518--13524}, doi = {10.1109/IROS58592.2024.10802081}, - address = {Abu Dhabi, United Arab Emirates}, arxiv = {2403.12676}, bibtex_show = {true}, code = {https://github.com/Mingrui-Yu/DLO_following}, preview = {yu2024inhand.gif}, - website = {https://mingrui-yu.github.io/DLO_following/}, + website = {https://mingrui-yu.github.io/DLO_following/} } @inproceedings{yan2024unified, @@ -240,30 +180,103 @@ @inproceedings{yan2024unified month = oct, booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, publisher = {IEEE}, + address = {Abu Dhabi, United Arab Emirates}, pages = {14004--14011}, doi = {10.1109/IROS58592.2024.10801755}, - address = {Abu Dhabi, United Arab Emirates}, arxiv = {2302.05685}, bibtex_show = {true}, preview = {yan2024unified.avif}, - website = {https://yanseim.github.io/iros24ultrasound/}, + website = {https://yanseim.github.io/iros24ultrasound/} } -@article{yu2023global, - title = {Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach}, - author = {Yu, Mingrui and Lv, Kangchen and Zhong, Hanzhong and Song, Shiji and Li, Xiang}, - year = 2023, - month = feb, +@inproceedings{chen2024safe, + title = {Safe and Individualized Motion Planning for Upper-limb Exoskeleton Robots Using Human Demonstration and Interactive Learning}, + author = {Chen, Yu and Chen, Gong and Ye, Jing and Qiu, Xiangjun and Li, Xiang}, + year = 2024, + month = may, + booktitle = {2024 International Conference on Robotics and Automation (ICRA)}, + publisher = {IEEE}, + address = {Yokohama, Japan}, + pages = {15307--15313}, + doi = {10.1109/ICRA57147.2024.10610552}, + arxiv = {2309.08178}, + bibtex_show = {true}, + preview = {chen2024safe.gif} +} + +@inproceedings{jia2024efficient, + title = {Efficient Model Learning and Adaptive Tracking Control of Magnetic Micro-Robots for Non-Contact Manipulation}, + author = {Jia, Yongyi and Miao, Shu and Zhou, Junjian and Jiao, Niandong and Liu, Lianqing and Li, Xiang}, + year = 2024, + month = may, + booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)}, + publisher = {IEEE}, + address = {Yokohama, Japan}, + pages = {4534--4540}, + doi = {10.1109/ICRA57147.2024.10610098}, + abstract = {Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic interventions. Existing techniques commonly impart magnetic properties to the target object, or drive the robot to contact and then manipulate the object, both probably inducing physical damage. This paper considers a non-contact formulation, where the robot spins to generate a repulsive field to push the object without physical contact. Under such a formulation, the main challenge is that the motion model between the input of the magnetic field and the output velocity of the target object is commonly unknown and difficult to analyze. To deal with it, this paper proposes a data-driven-based solution. A neural network is constructed to efficiently estimate the motion model. Then, an approximate model-based optimal control scheme is developed to push the object to track a time-varying trajectory, maintaining the non-contact with distance constraints. Furthermore, a straightforward planner is introduced to assess the adaptability of non-contact manipulation in a cluttered unstructured environment. Experimental results are presented to show the tracking and navigation performance of the proposed scheme.}, + arxiv = {2403.14414}, + bibtex_show = {true}, + preview = {jia2024efficient.avif} +} + +@article{yan2024complementary, + title = {A Complementary Framework for Human--Robot Collaboration with a Mixed {{AR}}--Haptic Interface}, + author = {Yan, Xiangjie and Jiang, Yongpeng and Chen, Chen and Gong, Leiliang and Ge, Ming and Zhang, Tao and Li, Xiang}, + year = 2024, + month = jan, + journal = {IEEE Transactions on Control Systems Technology}, + volume = 32, + number = 1, + pages = {112--127}, + doi = {10.1109/TCST.2023.3301675}, + abstract = {There is invariably a tradeoff between safety and efficiency for collaborative robots (cobots) in human–robot collaborations (HRCs). Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or respond to unforeseen changes, whereas robots that work closely with humans can but only by becoming passive to humans, meaning that their main tasks are suspended and efficiency compromised. Accordingly, this article proposes a new complementary framework for HRC that balances the safety of humans and the efficiency of robots. In this framework, the robot carries out given tasks using a vision-based adaptive controller, and the human expert collaborates with the robot in the null space. Such a decoupling drives the robot to deal with existing issues in task space [e.g., uncalibrated camera, limited field of view (FOV)] and null space (e.g., joint limits) by itself while allowing the expert to adjust the configuration of the robot body to respond to unforeseen changes (e.g., sudden invasion, change in environment) without affecting the robot’s main task. In addition, the robot can simultaneously learn the expert’s demonstration in task space and null space beforehand with dynamic movement primitives (DMPs). Therefore, an expert’s knowledge and a robot’s capability are explored and complement each other. Human demonstration and involvement are enabled via a mixed interaction interface, i.e., augmented reality (AR) and haptic devices. The stability of the closed-loop system is rigorously proved with Lyapunov methods. Experimental results in various scenarios are presented to illustrate the performance of the proposed method.}, + arxiv = {2210.06003}, + bibtex_show = {true}, + preview = {yan2024complementary.avif} +} + +@article{chen2024learning, + title = {Learning to Assist Different Wearers in Multitasks: Efficient and Individualized Human-in-the-Loop Adaptation Framework for Lower-Limb Exoskeleton}, + author = {Chen, Yu and Miao, Shu and Chen, Gong and Ye, Jing and Fu, Chenglong and Liang, Bin and Song, Shiji and Li, Xiang}, + year = 2024, journal = {IEEE Transactions on Robotics}, - volume = {39}, - number = {1}, - pages = {417--436}, - doi = {10.1109/TRO.2022.3200546}, - arxiv = {2205.04004}, + volume = 40, + pages = {4699--4718}, + doi = {10.1109/TRO.2024.3468768}, + arxiv = {2309.14720}, bibtex_show = {true}, - code = {https://github.com/Mingrui-Yu/shape_control_DLO_2}, - preview = {yu2023global.gif}, - website = {https://mingrui-yu.github.io/shape_control_DLO_2/}, + preview = {chen2024learning.gif} +} + +@inproceedings{jiang2023contact, + title = {Contact-Aware Non-Prehensile Manipulation for Object Retrieval in Cluttered Environments}, + author = {Jiang, Yongpeng and Jia, Yongyi and Li, Xiang}, + year = 2023, + month = oct, + booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + publisher = {IEEE}, + address = {Detroit, MI, USA}, + pages = {10604--10611}, + doi = {10.1109/IROS55552.2023.10341476}, + arxiv = {2303.03635}, + bibtex_show = {true}, + preview = {jiang2023contact.avif}, + website = {https://director-of-g.github.io/push_in_clutter/} +} + +@inproceedings{shu2023twostage, + title = {Two-Stage Trajectory-Tracking Control of Cable-Driven Upper-Limb Exoskeleton Robots with Series Elastic Actuators: A Simple, Accurate, and Force-Sensorless Method}, + author = {Shu, Yana and Chen, Yu and Zhang, Xuan and Zhang, Shisheng and Chen, Gong and Ye, Jing and Li, Xiang}, + year = 2023, + month = oct, + booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + publisher = {IEEE}, + address = {Detroit, MI, USA}, + pages = {2470--2476}, + doi = {10.1109/IROS55552.2023.10342056}, + bibtex_show = {true}, + preview = {shu23twostage.avif} } @inproceedings{zhang2023multi, @@ -273,11 +286,11 @@ @inproceedings{zhang2023multi month = may, booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)}, publisher = {IEEE}, + address = {London, United Kingdom}, pages = {10490--10496}, doi = {10.1109/ICRA48891.2023.10161255}, - address = {London, United Kingdom}, bibtex_show = {true}, - preview = {zhan23multi.avif}, + preview = {zhan23multi.avif} } @inproceedings{lv2023learning, @@ -287,12 +300,12 @@ @inproceedings{lv2023learning month = may, booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)}, publisher = {IEEE}, + address = {London, United Kingdom}, pages = {7119--7125}, doi = {10.1109/ICRA48891.2023.10160784}, - address = {London, United Kingdom}, arxiv = {2210.01433}, bibtex_show = {true}, - preview = {lv2023learning.gif}, + preview = {lv2023learning.gif} } @inproceedings{yu2023coarsetofine, @@ -302,43 +315,45 @@ @inproceedings{yu2023coarsetofine month = may, booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)}, publisher = {IEEE}, + address = {London, United Kingdom}, pages = {10153--10159}, doi = {10.1109/ICRA48891.2023.10160264}, - address = {London, United Kingdom}, arxiv = {2209.11145}, bibtex_show = {true}, preview = {yu2023coarsetofine.gif}, - website = {https://mingrui-yu.github.io/DLO_planning/}, + website = {https://mingrui-yu.github.io/DLO_planning/} } -@inproceedings{jiang2023contact, - title = {Contact-Aware Non-Prehensile Manipulation for Object Retrieval in Cluttered Environments}, - author = {Jiang, Yongpeng and Jia, Yongyi and Li, Xiang}, +@article{yu2023global, + title = {Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach}, + author = {Yu, Mingrui and Lv, Kangchen and Zhong, Hanzhong and Song, Shiji and Li, Xiang}, year = 2023, - month = oct, - booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, - publisher = {IEEE}, - pages = {10604--10611}, - doi = {10.1109/IROS55552.2023.10341476}, - address = {Detroit, MI, USA}, - arxiv = {2303.03635}, + month = feb, + journal = {IEEE Transactions on Robotics}, + volume = 39, + number = 1, + pages = {417--436}, + doi = {10.1109/TRO.2022.3200546}, + arxiv = {2205.04004}, bibtex_show = {true}, - preview = {jiang2023contact.avif}, - website = {https://director-of-g.github.io/push_in_clutter/}, + code = {https://github.com/Mingrui-Yu/shape_control_DLO_2}, + preview = {yu2023global.gif}, + website = {https://mingrui-yu.github.io/shape_control_DLO_2/} } -@inproceedings{shu2023twostage, - title = {Two-Stage Trajectory-Tracking Control of Cable-Driven Upper-Limb Exoskeleton Robots with Series Elastic Actuators: A Simple, Accurate, and Force-Sensorless Method}, - author = {Shu, Yana and Chen, Yu and Zhang, Xuan and Zhang, Shisheng and Chen, Gong and Ye, Jing and Li, Xiang}, - year = 2023, +@inproceedings{jia2022hierarchical, + title = {Hierarchical Learning and Control for In-Hand Micromanipulation Using Multiple Laser-Driven Micro-Tools}, + author = {Jia, Yongyi and Chen, Yu and Liu, Hao and Li, Xiu and Li, Xiang}, + year = 2022, month = oct, - booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, publisher = {IEEE}, - pages = {2470--2476}, - doi = {10.1109/IROS55552.2023.10342056}, - address = {Detroit, MI, USA}, + address = {Kyoto, Japan}, + pages = {1047--1054}, + doi = {10.1109/IROS47612.2022.9982033}, + abstract = {Laser-driven micro-tools are formulated by treating highly-focused laser beams as actuators, to control the tool's motion to contact then manipulate a micro object, which allows it to manipulate opaque micro objects, or large cells without causing photodamage. However, most existing laser-driven tools are limited to relatively simple tasks, such as moving and caging, and cannot carry out in-hand dexterous tasks. This is mainly because in-hand manipulation involves continuously coordinating multiple laser beams, micro-tools, and the object itself, which has high degrees of freedom (DoF) and poses up challenge for planner and controller design. This paper presents a new hierarchical formulation for the grasping and manipulation of micro objects using multiple laser-driven micro-tools. In hardware, multiple laser-driven tools are assembled to act as a robotic hand to carry out in-hand tasks (e.g., rotating); in software, a hierarchical scheme is developed to shrunken the action space and coordinate the motion of multiple tools, subject to both the parametric uncertainty in the tool and the unknown dynamic model of the object. Such a formulation provides potential for achieving robotic in-hand manipulation at a micro scale. The performance of the proposed system is validated in simulation studies under different scenarios.}, bibtex_show = {true}, - preview = {shu23twostage.avif}, + preview = {jia2022hierarchical.avif} } @inproceedings{yan2022adaptive, @@ -348,13 +363,13 @@ @inproceedings{yan2022adaptive month = may, booktitle = {2022 International Conference on Robotics and Automation (ICRA)}, publisher = {IEEE}, + address = {Philadelphia, PA, USA}, pages = {2803--2809}, doi = {10.1109/ICRA46639.2022.9812218}, abstract = {Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical performance, and will likely revolutionize the daily lives of everyone in the future. Being able to enhance the performance of both sides, such that human-robot collaboration outperforms a single robot/human, remains an open issue. For safer and more effective collaboration, a new control scheme has been proposed for redundant robots in this paper, consisting of an adaptive vision-based control term in task space and an interactive control term in null space. Such a formulation allows the robot to autonomously carry out tasks in an unknown environment without prior calibration while also interacting with humans to deal with unforeseen changes (e.g., potential collision, temporary needs) under the redundant configuration. The decoupling between task space and null space helps to explore the collaboration safely and effectively without affecting the main task of the robot end-effector. The stability of the closed-loop system has been rigorously proved with Lyapunov methods, and both the convergence of the position error in task space and that of the damping model in null space are guaranteed. The experimental results of a robot manipulator guided with the technology of augmented reality (AR) are presented to illustrate the performance of the control scheme.}, - address = {Philadelphia, PA, USA}, bibtex_show = {true}, code = {https://github.com/yanseim/Vision-Based-Control}, - preview = {yan2022adaptive.avif}, + preview = {yan2022adaptive.avif} } @inproceedings{yu2022shape, @@ -364,27 +379,12 @@ @inproceedings{yu2022shape month = may, booktitle = {2022 International Conference on Robotics and Automation (ICRA)}, publisher = {IEEE}, + address = {Philadelphia, PA, USA}, pages = {1337--1343}, doi = {10.1109/ICRA46639.2022.9812244}, - address = {Philadelphia, PA, USA}, arxiv = {2109.11091}, bibtex_show = {true}, code = {https://github.com/Mingrui-Yu/shape_control_DLO}, preview = {yu2022shape.gif}, - website = {https://mingrui-yu.github.io/shape_control_DLO/}, -} - -@inproceedings{jia2022hierarchical, - title = {Hierarchical Learning and Control for In-Hand Micromanipulation Using Multiple Laser-Driven Micro-Tools}, - author = {Jia, Yongyi and Chen, Yu and Liu, Hao and Li, Xiu and Li, Xiang}, - year = 2022, - month = oct, - booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, - publisher = {IEEE}, - pages = {1047--1054}, - doi = {10.1109/IROS47612.2022.9982033}, - abstract = {Laser-driven micro-tools are formulated by treating highly-focused laser beams as actuators, to control the tool's motion to contact then manipulate a micro object, which allows it to manipulate opaque micro objects, or large cells without causing photodamage. However, most existing laser-driven tools are limited to relatively simple tasks, such as moving and caging, and cannot carry out in-hand dexterous tasks. This is mainly because in-hand manipulation involves continuously coordinating multiple laser beams, micro-tools, and the object itself, which has high degrees of freedom (DoF) and poses up challenge for planner and controller design. This paper presents a new hierarchical formulation for the grasping and manipulation of micro objects using multiple laser-driven micro-tools. In hardware, multiple laser-driven tools are assembled to act as a robotic hand to carry out in-hand tasks (e.g., rotating); in software, a hierarchical scheme is developed to shrunken the action space and coordinate the motion of multiple tools, subject to both the parametric uncertainty in the tool and the unknown dynamic model of the object. Such a formulation provides potential for achieving robotic in-hand manipulation at a micro scale. The performance of the proposed system is validated in simulation studies under different scenarios.}, - address = {Kyoto, Japan}, - bibtex_show = {true}, - preview = {jia2022hierarchical.avif}, + website = {https://mingrui-yu.github.io/shape_control_DLO/} }