A novel human-robot skill transfer method for contact-rich manipulation task

J Dong, W Si, C Yang - Robotic Intelligence and Automation, 2023 - emerald.com
Purpose The purpose of this paper is to enhance the robot's ability to complete multi-step
contact tasks in unknown or dynamic environments, as well as the generalization ability of …

A framework for composite layup skill learning and generalizing through teleoperation

W Si, N Wang, Q Li, C Yang - Frontiers in Neurorobotics, 2022 - frontiersin.org
In this article, an impedance control-based framework for human-robot composite layup skill
transfer was developed, and the human-in-the-loop mechanism was investigated to achieve …

Robot Learning from Multiple Demonstrations Based on Generalized Gaussian Mixture Model

J Dong, W Si, N Wang, C Yang - 2023 28th International …, 2023 - ieeexplore.ieee.org
The quality of skills learned by robots from demonstrations depends on the level of
demonstration by the instructor, while models such as Dynamic Motion Primitives (DMP) are …