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Article
Publication date: 28 January 2025

Yanghong Li, Yahao Wang, Zhen Li, Lv Yingxiang, Jin Chai and Erbao Dong

This paper aims to design a deep reinforcement learning (DRL)-based variable impedance control policy that supports stability analysis for robot force tracking in complex…

26

Abstract

Purpose

This paper aims to design a deep reinforcement learning (DRL)-based variable impedance control policy that supports stability analysis for robot force tracking in complex geometric environments.

Design/methodology/approach

The DRL-based variable impedance controller explores and pre-learns the optimal policy for impedance parameter tuning in simulation scenarios with randomly generated workpieces. The trained results are then used as feedforward inputs to improve the force-tracking performance of the robot during contact. Based on Lyapunov’s theory, the stability of the proposed control policy is analysed to illustrate the interpretability of the results.

Findings

Simulations and experiments are performed on different types of complex environments. The results show that the proposed method is not only theoretically feasible but also has better force-tracking effects in practice.

Originality/value

Compared with most other DRL-based control policies, the proposed method possesses stability and interpretability, effectively avoids the overfitting phenomenon and thus has better simulation-to-real deployment results.

Details

Robotic Intelligence and Automation, vol. 45 no. 1
Type: Research Article
ISSN: 2754-6969

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Article
Publication date: 16 August 2024

Yahao Wang, Yanghong Li, Zhen Li, HaiYang He, Sheng Chen and Erbao Dong

Aiming at the problem of insufficient adaptability of robot motion planners under the diversity of end-effector constraints, this paper proposes Transformation Cross-sampling…

65

Abstract

Purpose

Aiming at the problem of insufficient adaptability of robot motion planners under the diversity of end-effector constraints, this paper proposes Transformation Cross-sampling Framework (TC-Framework) that enables the planner to adapt to different end-effector constraints.

Design/methodology/approach

This work presents a standard constraint methodology for representing end-effector constraints as a collection of constraint primitives. The constraint primitives are merged sequentially into the planner, and a unified constraint input interface and constraint module are added to the standard sampling-based planner framework. This approach enables the realization of a generic planner framework that avoids the need to build separate planners for different end-effector constraints.

Findings

Simulation tests have demonstrated that the planner based on TC-framework can adapt to various end-effector constraints. Physical experiments have also confirmed that the framework can be used in real robotic systems to perform autonomous operational tasks. The framework’s strong compatibility with constraints allows for generalization to other tasks without modifying the scheduler, significantly reducing the difficulty of robot deployment in task-diverse scenarios.

Originality/value

This paper proposes a unified constraint method based on constraint primitives to enhance the sampling-based planner. The planner can now adapt to different end effector constraints by opening up the input interface for constraints. A series of simulation tests were conducted to evaluate the TC-Framework-based planner, which demonstrated its ability to adapt to various end-effector constraints. Tests on a physical experimental system show that the framework allows the robot to perform various operational tasks without requiring modifications to the planner. This enhances the value of robots for applications in fields with diverse tasks.

Details

Robotic Intelligence and Automation, vol. 44 no. 5
Type: Research Article
ISSN: 2754-6969

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Article
Publication date: 22 March 2024

Yahao Wang, Zhen Li, Yanghong Li and Erbao Dong

In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new…

155

Abstract

Purpose

In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new constraint method to improve the performance of the sampling-based planner.

Design/methodology/approach

In this work, a constraint method (TC method) based on the idea of cross-sampling is proposed. This method uses the tangent space in the workspace to approximate the constrained manifold pattern and projects the entire sampling process into the workspace for constraint correction. This method avoids the need for extensive computational work involving multiple iterations of the Jacobi inverse matrix in the configuration space and retains the sampling properties of the sampling-based algorithm.

Findings

Simulation results demonstrate that the performance of the planner when using the TC method under the end-effector constraint surpasses that of other methods. Physical experiments further confirm that the TC-Planner does not cause excessive constraint errors that might lead to task failure. Moreover, field tests conducted on robots underscore the effectiveness of the TC-Planner, and its excellent performance, thereby advancing the autonomy of robots in power-line connection tasks.

Originality/value

This paper proposes a new constraint method combined with the rapid-exploring random trees algorithm to generate collision-free trajectories that satisfy the constraints for a high-dimensional robotic system under end-effector constraints. In a series of simulation and experimental tests, the planner using the TC method under end-effector constraints efficiently performs. Tests on a power distribution live-line operation robot also show that the TC method can greatly aid the robot in completing operation tasks with end-effector constraints. This helps robots to perform tasks with complex end-effector constraints such as grinding and welding more efficiently and autonomously.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 3
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 13 February 2024

Yanghong Li, Yahao Wang, Yutao Chen, X.W. Rong, Yuliang Zhao, Shaolei Wu and Erbao Dong

The current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high…

204

Abstract

Purpose

The current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high load-carrying capacity and dexterity of the robot; on the other hand, the fully autonomous mode is uncontrollable and the teleoperation mode has a high failure rate. Therefore, this study aims to design a distribution network operation robot named Sky-Worker to solve the above two problems.

Design/methodology/approach

The heterogeneous arms of Sky-Worker are driven by hydraulics and electric motors to solve the contradiction between high load-carrying capacity and high flexibility. A human–robot collaborative shared control architecture is built to realize real-time human intervention during autonomous operation, and control weights are dynamically assigned based on energy optimization.

Findings

Simulations and tests show that Sky-Worker has good dexterity while having a high load capacity. Based on Sky-Worker, multiuser tests and practical application experiments show that the designed shared-control mode effectively improves the success rate and efficiency of operations compared with other current operation modes.

Practical implications

The designed heterogeneous dual-arm distribution robot aims to better serve distribution line operation tasks.

Originality/value

For the first time, the integration of hydraulic and motor drives into a distribution network operation robot has achieved better overall performance. A human–robot cooperative shared control framework is proposed for remote live-line working robots, which provides better operation results than other current operation modes.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 2
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 9 July 2021

Diwan Li, Yanping Li, Yanghong Hu and Yidong Tu

Drawing on the resource gain development (RGD) perspective, this study is aimed to examine how servant leadership as an environmental resource and general self-esteem as a…

906

Abstract

Purpose

Drawing on the resource gain development (RGD) perspective, this study is aimed to examine how servant leadership as an environmental resource and general self-esteem as a personal resource influence employees' family performance through work-to-family facilitation (WFF) and explore the moderating effects of gender and Chinese traditionality on the relationship between servant leadership and WFF.

Design/methodology/approach

Two-wave data were collected from 369 employees in China. The structural equation model and path analysis were used to analyze the data.

Findings

The results confirm that WFF mediates the effects of servant leadership and employees' general self-esteem on employees' family performance. Gender and Chinese traditionality moderate the relationship between servant leadership and WFF.

Originality/value

This study contributes to existing research by revealing how specific environmental resources (servant leadership) and personal resources (general self-esteem) impact employee family performance through WFF; it also identifies gender and Chinese traditionality as demand characteristics which moderate the effect of environmental resources on WFF.

Details

Management Decision, vol. 60 no. 3
Type: Research Article
ISSN: 0025-1747

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Article
Publication date: 21 January 2021

Shihao Li, Yanghong Hu, Lan Xu and Guoqun Fu

This paper aims to explore how different service relationships (mentoring relationship versus partnering relationship) in service co-production affect service outcomes…

437

Abstract

Purpose

This paper aims to explore how different service relationships (mentoring relationship versus partnering relationship) in service co-production affect service outcomes. Specifically, it aims to explore whether the effects of service relationships on customers’ intention to purchase the service are contingent upon service appeals’ regulatory focus (promotion versus prevention focus) and when the regulatory fit effects exist.

Design/methodology/approach

Three experimental studies were conducted to test hypotheses. ANOVA and bootstrapping were used to analyze the data.

Findings

The findings of the three experiments provide convergent evidence for the hypotheses. Specifically, when customers view service employees as mentors (versus partners) in service co-production, promotion-focused (versus prevention focused) service appeals effectively enhance customers’ intention to purchase the service because customers experience a regulatory fit. Moreover, the regulatory fit effects are strengthened or attenuated according to customers’ subjective social status.

Practical implications

Service firms should adopt promotion-focused (versus prevention-focused) service appeals if employees and customers are having mentoring (versus partnering) relationships, especially when customers have higher (lower) social status.

Originality/value

To better manage service co-production, this paper investigates beneficial outcomes of mentoring and partnering relationships from a regulatory fit perspective. It highlights the importance of compatibility between service relationship and service appeals’ regulatory focus and demonstrates a novel regulatory fit effect. It also uncovers engagement as the underlying mechanism for the regulatory-fit effect and identifies social class as a boundary condition.

Details

Journal of Services Marketing, vol. 35 no. 4
Type: Research Article
ISSN: 0887-6045

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Article
Publication date: 31 August 2021

Lixin Liu, Justin Zuopeng Zhang, Wu He and Wenzhuo Li

Risks resulted from asymmetric information have become crucial barriers for commercial banks to implement supply chain finance (SCF) – mainly the inventory pledge financing (IPF)…

1448

Abstract

Purpose

Risks resulted from asymmetric information have become crucial barriers for commercial banks to implement supply chain finance (SCF) – mainly the inventory pledge financing (IPF). At the same time, online financial service providers (OFSPs) are emerging as strong competitors in the SCF market. As a result, commercial banks need to update their traditional SCF business models and alleviate their over-dependence on OFSPs.

Design/methodology/approach

The authors employ a multi-case-study method to investigate how the Internet of things (IoT) and blockchain technologies can be jointly leveraged to mitigate SCF risks. In-depth interviews were conducted to depict the business models and their novel ecosystem to reinforce traditional banks' ability in SCF services.

Findings

From the perspective of information asymmetry, the authors categorize IPF risks into three groups based on the principal-agent theory: collateral, warehousing and liquidity risk. The findings suggest that IoT can primarily improve traditional banks' information acquisition ability, and blockchain can facilitate credible information transformation, enabling banks to acquire knowledge from collaterals. Besides, the e-platform in the new architecture increases banks' involvement in the supply chain and builds a fair network to curtail warehousing risks. The employment of smart contracts and collaborative mechanism ensure process and outcome control in mitigating liquidity risks.

Originality/value

The research contributes to the literature by confirming the role of emerging technologies in reducing information asymmetry risks. Besides, the findings provide valuable insights for practitioners to promote effective practices and approaches in IPF.

Details

Journal of Enterprise Information Management, vol. 34 no. 5
Type: Research Article
ISSN: 1741-0398

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Article
Publication date: 12 February 2018

Ji Li, Ying Zhang, Silu Chen, Wanxing Jiang, Shanshan Wen and Yanghong Hu

The purpose of this paper is to explore the relationship between demographic diversity on boards and employer/employee relationship (EER) and to test the moderating effect of…

1649

Abstract

Purpose

The purpose of this paper is to explore the relationship between demographic diversity on boards and employer/employee relationship (EER) and to test the moderating effect of contextual factors such as a firm’s financial situation.

Design/methodology/approach

This paper analyzes data from over 1,000 publicly listed US firms and uses hierarchical regression.

Findings

Demographic diversity on boards of a given firm, such as ethnic diversity and gender diversity, should have positive effects on EER, which can be considered as an important dimension of overall human resource management performance in a given firm. Contextual factors such as a firm’s financial situation should moderate the relationship between demographic diversity on boards and the EER.

Originality/value

First, this research contributes to the current literature by showing that EER can be influenced by demographic diversity on boards, which further helps to highlight the beneficial effect of demographic diversity in top management team. Second, this study uncovers the moderating role of some contextual factors such as a firm’ financial situation. Third, this study also contributes to the corporate governance literature by studying the link between demographic diversity on boards and EER.

Details

Employee Relations, vol. 40 no. 2
Type: Research Article
ISSN: 0142-5455

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Article
Publication date: 10 September 2024

Junyun Liao, Jiawen Chen, Yanghong Hu, Raffaele Filieri, Xiaoliang Feng and Wei Wang

Users frequently target rival brands through direct criticism or indirect customer insults, yet the impact of such attacks on brand advocacy remains unexplored. The purpose of…

200

Abstract

Purpose

Users frequently target rival brands through direct criticism or indirect customer insults, yet the impact of such attacks on brand advocacy remains unexplored. The purpose of this study is to classify online attacks into brand-targeted attacks and consumer-targeted attacks and further investigate their differential impacts on brand advocacy and the underlying mechanism and a boundary condition of those impacts.

Design/methodology/approach

Three experimental studies using different types of brands (electronics, universities and sports footwear) are conducted to examine the effects of brand-related attack targets on brand advocacy.

Findings

This research shows that consumer-targeted attacks trigger higher brand advocacy through increasing perceived identity threat than brand-targeted attacks. Moreover, the effect of consumer-targeted attacks (versus brand-targeted attacks) on brand advocacy is mediated by perceived identity threat and mitigated when consumers’ identification with the attacked brand is strong.

Practical implications

The study’s findings yield practical applications for marketers and brand managers, assisting them in understanding consumers’ reactions to brand attacks. This study serves as a reference for firms to consider leveraging the association between brand identification and brand-related attack targets and uniting with loyal brand fans to manage online brand conflicts.

Originality/value

The present study extends prior literature on customer-brand relationships in the context of online attacks. Through investigating the impacts of brand-targeted and consumer-targeted attacks on brand advocacy, this research offers theoretical insights into consumers’ responses to online attacks with different targets.

Details

Internet Research, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1066-2243

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Article
Publication date: 1 December 2021

Ying Jiang, Junyun Liao, Jiawen Chen, Yanghong Hu and Peng Du

Users' knowledge sharing provides valuable resources for brand community participants and is, therefore, critical for the viability of virtual brand communities. Drawing from both…

1396

Abstract

Purpose

Users' knowledge sharing provides valuable resources for brand community participants and is, therefore, critical for the viability of virtual brand communities. Drawing from both self-determination theory (SDT) and psychological ownership theory, the paper aims to investigate the impact of fulfillment of three basic psychological needs on brand users' knowledge-sharing behavior and examines psychological ownership as a mediator.

Design/methodology/approach

Survey data consisting of 316 valid responses were collected from users of Huawei Pollen Club Community. Confirmatory factor analysis (CFA) confirmed the reliability and validity of measures, and hierarchical linear regression and bootstrapping were used to test all hypotheses.

Findings

Fulfillment of the need for autonomy, relatedness and competence in a virtual brand community boosts users' psychological ownership and has a positive influence on their knowledge-sharing behavior. Furthermore, psychological ownership partially mediates the relationships between the fulfillment of psychological needs and knowledge-sharing behavior. In addition, the authors found that when users participate in more offline brand activities, the positive impact of the fulfillment of the need for relatedness on psychological ownership is strengthened, while the positive impact of the fulfillment of the need for autonomy on psychological ownership is weakened.

Originality/value

The paper contributes to the existing literature by exploring the relationships between fulfilling users' three basic psychological needs and their knowledge-sharing behavior through the mediating role of psychological ownership. The authors also provide insight into how offline brand activities interact with the fulfillment of psychological needs in virtual brand communities.

Details

Asia Pacific Journal of Marketing and Logistics, vol. 34 no. 10
Type: Research Article
ISSN: 1355-5855

Keywords

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