Dacheng Yu
Papers
3
Total Citations
9
H-Index
2
About
Dacheng Yu is a robotics researcher whose work focuses on the intersection of humanoid robotics, dexterous manipulation, and tactile sensing. His key research areas include compliance control for robotic hands, rolling motion generation for humanoid robots, and grasp optimization with limited contact points. Yu’s major contributions include developing a novel compliance control method that replaces traditional multi-dimensional force/torque sensors with a simpler, one-dimensional pressure sensor for robotic hands, significantly reducing system complexity and cost. He has also advanced humanoid robot mobility by generating rolling motions that enable robots to transition from lying states to standing postures, adapting to environmental uncertainties. In grasp planning, Yu has addressed the fundamental challenge of optimizing grasps for humanoid hands constrained by only five contact points, improving dexterous manipulation of 3D objects. His work, cited in specialized robotics venues, lays groundwork for more adaptive and cost-effective humanoid systems. Notably, his 2017 paper on compliance control using tactile sensors represents a practical step toward simplifying sensor architectures in robotic hands, a persistent challenge in the field.
Research Focus
Key Achievements
Top Papers
- 1
- 2Rolling motion generation of multi-points contact for a humanoid robot3 citations · 2016
- 3