Author

Ze-Bin Ji

2 papers indexed here

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Open access Sep 2026

Adaptive dynamic programming for coordinated control of a dual-arm reconfigurable manipulator with unknown object constraints

Concentrating on various types of grasped objects, this work presents a distributed coordinated control scheme for a dual-arm reconfigurable manipulator (DRM) via adaptive dynamic programming (ADP). Kinematic and force analyses are performed to formulate the dynamics of a single-arm manipulator and the object using joi...

Ze-Bin Ji, Yi Qin, Qiang Pan et al. · Frontiers in Robotics and AI · 0 citations

Sep 2026

Nonlinear H∞ optimal control of reconfigurable robot manipulator via adaptive torque estimation

This study examines the performance of reconfigurable robot manipulators operating in uncertain environments, addressing the challenge of mitigating interference noise in Harmonic Drive (HD) signal transmission and presents a simplified robust Adaptive Dynamic Programming (ADP) framework to implement H∞ control for RRM...

Qiao-Fan Shi, Xiao-Hong Zhu, Yu Zheng et al. · European Conference on Elect... · 0 citations