2023
Journal Articles
Wang, Ziwei; Fei, Haolin; Huang, Yanpei; Rouxel, Quentin; Xiao, Bo; Li, Zhibin; Burdet, Etienne
Learning to Assist Bimanual Teleoperation using Interval Type-2 Polynomial Fuzzy Inference Journal Article
In: IEEE Transactions on Cognitive and Developmental Systems, pp. 1–1, 2023, ISSN: 2379-8939, (Conference Name: IEEE Transactions on Cognitive and Developmental Systems).
Abstract | Links | BibTeX | Tags: Bimanual manipulation, Collaboration, Fuzzy sets, Gaussian process, Human-robot collaboration, IT2 polynomial fuzzy system, Robot kinematics, Robot learning, Robots, Task analysis, Trajectory, Uncertainty
@article{wang_learning_2023,
title = {Learning to Assist Bimanual Teleoperation using Interval Type-2 Polynomial Fuzzy Inference},
author = { Ziwei Wang and Haolin Fei and Yanpei Huang and Quentin Rouxel and Bo Xiao and Zhibin Li and Etienne Burdet},
doi = {10.1109/TCDS.2023.3272730},
issn = {2379-8939},
year = {2023},
date = {2023-01-01},
journal = {IEEE Transactions on Cognitive and Developmental Systems},
pages = {1–1},
abstract = {Assisting humans in collaborative tasks is a promising application for robots, however effective assistance remains challenging. In this paper, we propose a method for providing intuitive robotic assistance based on learning from human natural limb coordination. To encode coupling between multiple-limb motions, we use a novel interval type-2 (IT2) polynomial fuzzy inference for modeling trajectory adaptation. The associated polynomial coefficients are estimated using a modified recursive least-square with a dynamic forgetting factor. We propose to employ a Gaussian process to produce robust human motion predictions, and thus address the uncertainty and measurement noise of the system caused by interactive environments. Experimental results on two types of interaction tasks demonstrate the effectiveness of this approach, which achieves high accuracy in predicting assistive limb motion and enables humans to perform bimanual tasks using only one limb.},
note = {Conference Name: IEEE Transactions on Cognitive and Developmental Systems},
keywords = {Bimanual manipulation, Collaboration, Fuzzy sets, Gaussian process, Human-robot collaboration, IT2 polynomial fuzzy system, Robot kinematics, Robot learning, Robots, Task analysis, Trajectory, Uncertainty},
pubstate = {published},
tppubtype = {article}
}
Hu, Zhaoyang Jacopo; Wang, Ziwei; Huang, Yanpei; Sena, Aran; Rodriguez y Baena, Ferdinando; Burdet, Etienne
Towards Human-Robot Collaborative Surgery: Trajectory and Strategy Learning in Bimanual Peg Transfer Journal Article
In: IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 4553-4560, 2023.
Links | BibTeX | Tags: Autonomous agents, Collaboration, Human-Robot Interaction, Imitation Learning, Medical Robots, Robots, Shared Control, Surgery, Task analysis, Training, Trajectory
@article{10149474,
title = {Towards Human-Robot Collaborative Surgery: Trajectory and Strategy Learning in Bimanual Peg Transfer},
author = {Zhaoyang Jacopo Hu and Ziwei Wang and Yanpei Huang and Aran Sena and {Rodriguez y Baena}, Ferdinando and Etienne Burdet},
doi = {10.1109/LRA.2023.3285478},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {8},
number = {8},
pages = {4553-4560},
keywords = {Autonomous agents, Collaboration, Human-Robot Interaction, Imitation Learning, Medical Robots, Robots, Shared Control, Surgery, Task analysis, Training, Trajectory},
pubstate = {published},
tppubtype = {article}
}
Proceedings Articles
Noccaro, Alessia; Buscaglione, Silvia; Pinardi, Mattia; Pino, Giovanni Di; Formica, Domenico
Evaluation of a 7-DoFs Robotic Manipulator as Haptic Interface During Planar Reaching Tasks Proceedings Article
In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5095–5100, 2023.
Links | BibTeX | Tags: Haptic interfaces, Manipulators, Motion measurement, Neuroscience, Particle measurements, Perturbation methods, Trajectory
@inproceedings{noccaro_evaluation_2023,
title = {Evaluation of a 7-DoFs Robotic Manipulator as Haptic Interface During Planar Reaching Tasks},
author = { Alessia Noccaro and Silvia Buscaglione and Mattia Pinardi and Giovanni {Di Pino} and Domenico Formica},
doi = {10.1109/IROS55552.2023.10342470},
year = {2023},
date = {2023-10-01},
urldate = {2023-10-01},
booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5095–5100},
keywords = {Haptic interfaces, Manipulators, Motion measurement, Neuroscience, Particle measurements, Perturbation methods, Trajectory},
pubstate = {published},
tppubtype = {inproceedings}
}