@inproceedings{chi2019motion,

title = {Motion Control of a Soft Circular Crawling Robot via Iterative Learning Control},

author = {Haozhen Chi and Xuefang Li and Wenyu Liang and Yan Wu and Qinyuan Ren},

url = {https://ieeexplore.ieee.org/document/9029234 

https://yan-wu.com/wp-content/uploads/2020/05/chi2019motion.pdf},

doi = {10.1109/CDC40024.2019.9029234},

isbn = {978-1-7281-1398-2},

year  = {2019},

date = {2019-12-13},

booktitle = {2019 IEEE 58th Conference on Decision and Control (CDC)},

pages = {6524-6529},

publisher = {IEEE},

address = {Nice, France},

abstract = {Soft robots have recently attracted widespread attention due to their abilities to work effectively in unstructured environments. As an actuation technology of soft robots, dielectric elastomer actuators (DEAs) exhibit many fantastic attributes such as large strain and high energy density. However, due to nonlinear electromechanical coupling, it is challenging to model a DEA accurately, and further it is difficult to control a DEA-based soft robot. This work studies a novel DEA-based soft circular crawling robot. The kinematics of the soft robot is explored and a knowledge-based model is established to expedite the controller design. An iterative learning control (ILC) method then is applied to control the soft robot. By employing ILC, the performance of the robot motion trajectory tracking can be improved significantly without using a perfect model. Finally, several numerical studies are conducted to illustrate the effectiveness of the ILC.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{pang2019modelling,

title = {Modeling and Control of A Soft Circular Crawling Robot},

author = {Jiangnan Pang and Yibo Shao and Haozhen Chi and Yan Wu},

url = {https://ieeexplore.ieee.org/document/8927474 

https://www.yan-wu.com/wp-content/uploads/2020/05/pang2019modeling.pdf},

doi = {10.1109/IECON.2019.8927474},

isbn = {978-1-7281-4878-6},

year  = {2019},

date = {2019-10-17},

booktitle = {The 45th Annual Conference of the IEEE Industrial Electronics Society (IECON)},

volume = {1},

pages = {5243-5248},

publisher = {IEEE},

address = {Lisbon, Portugal},

abstract = {Soft robots have exhibited significant advantages compared to conventional rigid robots due to the high-energy density and strong environmental compliance. Among the soft materials explored for soft robots, dielectric elastomers (DEs) stand out with the muscle-like actuation behaviors. However, recently, modeling and control of a DE-based soft robot still remain a challenging because of the nonlinearity and viscoelasticity of DE actuators. This paper focuses on the design, modeling and control of a soft circular robot which is able to achieve a 2D motion. To facilitate the design of a motion controller, a dynamic model of the robot is investigated through experimental identification. Based on the model, a feedforward plus feedback control scheme is adopted for the motion control of the robot. Finally, both simulations and experiments are conducted to verify the effectiveness of the proposed model and control approach.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{tee2018experimental,

title = {Experimental Evaluation of Divisible Human-Robot Shared Control for Teleoperation Assistance},

author = {Keng Peng Tee and Yan Wu},

url = {https://ieeexplore.ieee.org/document/8650436 

https://www.yan-wu.com/wp-content/uploads/2020/05/tee2018experimental.pdf},

doi = {10.1109/TENCON.2018.8650436},

isbn = {978-1-5386-5457-6},

year  = {2018},

date = {2018-10-31},

booktitle = {2018 IEEE Region 10 Conference (TENCON)},

pages = {0182-0187},

publisher = {IEEE},

address = {Jeju, South Korea},

abstract = {This paper is concerned with divisible shared control, which decomposes the motion space into complementary subspaces and distributes the control to the human and the robot so that each can independently effect motion control in its subspace. We present a divisible shared control scheme to assist teleoperation tasks on a curved object surface, which is difficult for a human to perform without assistance. We designed and carried an experiment to investigate its effect of user performance and work load. Experimental evaluation, based on both quantitative and qualitative measures, suggests that divisible shared control improves accuracy, speed, and smoothness, while at the same time reduces cognitive load, effort, and frustration.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{li2015adaptive,

title = {Adaptive Optimal Control for Coordination in Physical Human-Robot Interaction},

author = {Yanan Li and Keng Peng Tee and Rui Yan and Wei Liang Chan and Yan Wu and Dilip Kumar Limbu},

url = {https://ieeexplore.ieee.org/document/7353109 

http://www.yan-wu.com/docs/li2015adaptive.pdf},

doi = {10.1109/IROS.2015.7353109},

isbn = {978-1-4799-9994-1},

year  = {2015},

date = {2015-10-02},

booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {20-25},

publisher = {IEEE},

address = {Hamburg, Germany},

abstract = {In this paper, we propose an adaptive optimal control for a robot to collaborate with a human. Game theory and policy iteration are employed to analyze the interactive behaviors of the human and the robot in physical interactions. The human's control objective is estimated and it is used to adapt the robot's own objective, such that human-robot coordination can be achieved. An optimal control is developed to guarantee that the robot's control objective is realized. The validity of the proposed method is verified through rigorous analysis and experiment studies.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{su2014increasing,

title = {Increasing the Accuracy and the Repeatability of Position Control for Micromanipulations Using Heteroscedastic Gaussian Processes},

author = {Yanyu Su and Wei Dong and Yan Wu and Zhijiang Du and Yiannis Demiris},

url = {https://ieeexplore.ieee.org/document/6907545 

http://www.yan-wu.com/docs/su2014increasing.pdf},

doi = {10.1109/ICRA.2014.6907545},

isbn = {978-1-4799-3685-4},

year  = {2014},

date = {2014-06-07},

booktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {4692--4698},

publisher = {IEEE},

abstract = {Many recent studies describe micromanipulation systems by using complex Analytic Forward Models (AFM), but such models are difficult to build and incapable of describing unmodelable factors, such as manufacturing defects. In this work, we propose the Enhanced Analytic Forward Model (EAFM), an integrated model of the AFM and the Heteroscedastic Gaussian Processes (HGP). The EAFM can compensate the shortfalls of the AFM by training the HGP on the residual of the AFM. This also allows the HGP to learn the repeatability of the micromanipulation system. Based on the EAFM, we further contribute an optimal position controller for improving the accuracy and the repeatability. This optimal EAFM controller is implemented and tested on a three degree-of-freedom micromanipulator based micromanipulation system. Two sets of real-world experiments are carried out to verify our method. The results demonstrate that the controller using EAFM can statistically achieve higher accuracy and repeatability than solely using the AFM.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{su2013enhanced,

title = {Enhanced Kinematic Model for Dexterous Manipulation with an Underactuated Hand},

author = {Yanyu Su and Yan Wu and Harold Soh and Zhijiang Du and Yiannis Demiris},

url = {https://ieeexplore.ieee.org/document/6696707 

http://www.yan-wu.com/docs/su2013enhanced.pdf},

doi = {10.1109/IROS.2013.6696707},

isbn = {978-1-4673-6358-7},

year  = {2013},

date = {2013-11-07},

booktitle = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {2493--2499},

publisher = {IEEE},

abstract = {Recent studies on underactuated manipulation usually describe the system with a Kinematic Model (KM), which is built by adding external constraints to the standard manipulation analysis method. However, such external constraints are easily violated in a real-world dexterous manipulation task which results in significant control errors. In this work, the Enhanced Kinematic Model (E-KM), an integrated model of the KM and the Sparse Online Gaussian Process (SOGP) is proposed. The E-KM can compensate the shortfalls of the KM by on-the-fly training the SOGP on the residual between the prediction of the KM and the ground truth data. Based on the E-KM, we further contribute an optimal controller for underactuated manipulations. This optimal E-KM controller is implemented and tested on the iCub, a humanoid robot with two anthropomorphic underactuated hands. Two sets of real-world experiments are carried out to verify our method. The results demonstrate that the controller using E-KM statistically can achieve higher control accuracy than using solely using the KM for a wide range of objects.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{su2012robust,

title = {Robust Grasping for an Under-actuated Anthropomorphic Hand under Object Position Uncertainty},

author = {Yanyu Su and Yan Wu and Kyuhwa Lee and Zhijiang Du and Yiannis Demiris},

url = {https://ieeexplore.ieee.org/document/6651599 

http://www.yan-wu.com/docs/su2012robust.pdf},

doi = {10.1109/HUMANOIDS.2012.6651599},

issn = {2164-0572},

year  = {2012},

date = {2012-12-01},

booktitle = {The 12th IEEE-RAS International Conference on Humanoid Robots (Humanoid)},

pages = {719--725},

publisher = {IEEE},

abstract = {This paper presents a grasp execution strategy for grasping an object with one trial when there is uncertainty in the object position. This strategy is based on three grasping components: 1) robust grasp trajectory planning which can cope with reasonable amount of initial object position error, 2) sensor-based grasp adaptation, and 3) compliant characteristics of the under actuated mechanism. This strategy is implemented and tested on the iCub humanoid robot. Two experiments and a demo of the iCub robot playing the Towers of Hanoi game are carried out to verify our system. The results demonstrate that the iCub using this approach can successfully grasp objects under certain position error with its under-actuated anthropomorphic hand.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{wu2010towardsb,

title = {Towards Anthropomorphic Robot Thereminist},

author = {Yan Wu and Polake Kuvinichkul and Peter Cheung and Yiannis Demiris},

url = {https://ieeexplore.ieee.org/document/5723333 

http://www.yan-wu.com/docs/wu2010robio.pdf},

doi = {10.1109/ROBIO.2010.5723333},

isbn = {978-1-4244-9319-7},

year  = {2010},

date = {2010-12-18},

booktitle = {2010 IEEE International Conference on Robotics and Biomimetics (ROBIO)},

pages = {235--240},

publisher = {IEEE},

abstract = {Theremin is an electronic musical instrument considered to be the most difficult to play which requires the player's hands to have high precision and stability as any position change within proximity of the instrument's antennae can make a difference to the pitch or volume. In a different direction to previous developments of Theremin playing robots, we propose a Humanoid Thereminist System that goes beyond using only one degree of freedom which will open up the possibility for robot to acquire more complex skills, such as aerial fingering and include musical expressions in playing the Theremin. The proposed system consists of two phases, namely calibration phase and playing phase which can be executed independently. During the playing phase, the System takes input from a MIDI file and performs path planning using a combination of minimum energy strategy in joint space and feedback error correction for next playing note. Three experiments have been conducted to evaluate the developed system quantitatively and qualitatively by playing a selection of music files. The experiments have demonstrated that the proposed system can effectively utilise multiple degrees of freedoms while maintaining minimum pitch error margins.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}