Search Results - "Liu, Yechao"

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite by Yang, Guocai, Liu, Yechao, Jin, Minghe, Liu, Hong

“…A space manipulator needs to exhibit high stiffness for tracking, and good compliance for capturing a tumbling satellite. However, the elasticity caused by…”
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Visual Servo Control of the Macro/Micro Manipulator with Base Vibration Suppression and Backlash Compensation by Zhang, Yaowen, Liu, Yechao, Xie, Zongwu, Liu, Yang, Cao, Baoshi, Liu, Hong

“…This study investigates the visual servo control of the space station macro/micro manipulator system. The proposed approach is based on the position-based…”
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A novel dual-arm adaptive cooperative control framework for carrying variable loads and active anti-overturning by Shu, Xin, Ni, Fenglei, Min, Kang, Liu, Yechao, Liu, Hong

“…This paper aims to tackle the issue of carrying variable loads and disturbances in an impedance-based dual-arm robot. When robots are engaged in transportation…”
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A novel visual servo method for space manipulators by planning jerk by Yang, Guocai, Ji, Junhong, Liu, Yechao, Piao, Songhao

“…•Generated jerk drives third-order system to arrive desired position, no need for discrete points.•Given pose in Cartesian space, joint trajectories are…”
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Biomimetic object impedance control for dual-arm cooperative 7-DOF manipulators by Ren, Yi, Liu, Yechao, Jin, Minghe, Liu, Hong

“…To mimic human behavior is an increasing trend for advanced robot control. In this paper, a novel biomimetic object impedance control strategy (BOI) is…”
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Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics by Ren, Yi, Chen, Zhengsheng, Liu, Yechao, Gu, Yikun, Jin, Minghe, Liu, Hong

“…•An adaptive hybrid position/force controller for dual-arm manipulators is proposed.•The unknown grasped tool interacts with environment in a controllable…”
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3-D Object Reconstruction Using Tactile Sensing for Multi-fingered Hand by Zongwu, Xie, Zhaojie, Zhu, Yechao, Liu

“…In this paper, we propose to reconstruct 3-D model of a partially known object by tactile information while the object is grasped. Assuming the object is…”
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Motion planning for redundant free-floating space robot with local optimization of reaction torque and joint torque simultaneously by Cheng Zhou, Minghe Jin, Yechao Liu, Hong Liu

“…This paper presents a novel way to derive the analytical expression of the reaction torque acted on the satellite base's centroid firstly. The reaction torque…”
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Cartesian path planning for base attitude adjustment of space robot by Minghe Jin, Cheng Zhou, Yechao Liu, Hong Liu

“…This paper presents a novel Cartesian path planning for space manipulator to achieve base (satellite) attitude adjustment and Cartesian task. The base attitude…”
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Hybrid impedance control of 7-DOF redundant manipulator with dual compliant surface by Minghe Jin, Cheng Zhou, Yechao Liu

“…A control strategy based on the hybrid impedance control of 7-DOF manipulator is investigated to achieve force control and obstacle avoidance. And the…”
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Adaptive object impedance control of dual-arm cooperative humanoid manipulators by Yi Ren, Yang Zhou, Yechao Liu, Minghe Jin, Hong Liu

“…A novel adaptive object impedance control strategy is presented for dual-arm cooperative humanoid manipulators. A general impedance scheme comprising internal…”
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The electrical simulator for the space station manipulator under Linux/RTAI by Minghe Jin, Cheng Zhou, Zongwu Xie, Ziqi Liu, Ze Zhang, Yechao Liu, Hong Liu

“…This paper presents the development of the electrical simulator for the space station manipulator to support the design of the space manipulator's controller…”
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Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties by Yi Ren, Yang Zhou, Yikun Gu, Yechao Liu, Minghe Jin, Hong Liu

“…In this paper, a novel robust adaptive controller is proposed to simultaneously cope with the unknown nonlinear backlash, friction and dynamic uncertainties in…”
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Flexible base vibration suppression based on improved P-PED method by Yaowen Zhang, Yechao Liu, Zongwu Xie, Hong Liu

“…The motion of space manipulator with a flexible base will generate interaction forces and torques acting at the base, which cannot be avoided. In order to…”
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Dynamics modeling and simulation of space manipulator based on spatial vector by Minghe Jin, Cheng Zhou, Yechao Liu, Haitao Yang, Jingdong Zhao

“…Based on the need of the real-time dynamic simulation of space robot in the hardware-in-the-loop simulation system and modeling analysis of control system, the…”
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Robust adaptive multi-task tracking control of redundant manipulators with dynamic and kinematic uncertainties and unknown disturbances by Ren, Yi, Zhou, Yang, Liu, Yechao, Gu, Yikun, Jin, Minghe, Liu, Hong

“…In this paper, a novel adaptive multi-priority controller for redundant manipulators is proposed to accomplish the multi-task tracking when kinematic/dynamic…”
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Fuzzy-sliding mode control for flexible-joint manipulator based on friction compensation by Ni Fenglei, Liu Yechao, Dang Jin

“…For overcoming unknown external disturbance, the nonlinearity and uncertainty of the flexible joint manipulator, a novel robust controller is proposed based on…”
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Joint driver and control design for large torque, long arm space remote manipulator by Chuangqiang Guo, Fenglei Ni, Jingting Sun, Yechao Liu, Hong Liu

“…This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large…”
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A New Method to Reduce Energy in Trajectory Planning by Wei, Jiajing, Jin, Minghe, Liu, Yechao

“…A new method to reduce energy in trajectory planning will be proposed in this paper, and it is found that it can significantly reduce the energy. The method is…”
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An Adaptive Force Control Architecture with Fast-Response and Robustness in Uncertain Environment by Shu, Xin, Ni, Fenglei, Min, Kang, Liu, Yechao, Liu, Hong

“…One of the fundamental requirements for the success of a manipulation task is the capacity to handle the interaction between manipulator and environment…”
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