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Publications

Patents

  1. Y. Fan, C.-K. Tsai, T. Kato. Region‑based grasp generation. US Patent 12,350,840, 2025.

  2. K. Wang, Y. Fan. Grasp teach by human demonstration. US Patent 12,304,070, 2025.

  3. Y. Fan. Deep collision avoidance. US Patent 12,304,086, 2025.

  4. Y. Fan, T. Kato. Automatic gripper fingertip design to reduce leftover in random bin picking applications. US Patent 12,304,066, 2025.

  5. H.-C. Lin, Y. Fan, T. Kato. Point set interference check method and system. US Patent 12,325,135, 2025.

  6. K. Wang, Y. Fan. Efficient and robust line matching approach. US Patent 12,017,371, 2024.

  7. Y. Fan. Grasp learning using modularized neural networks. US Patent 12,017,355, 2024.

  8. Y. Fan, H.-C. Lin. Collision handling methods in grasp generation. US Patent 12,017,356, 2024.

  9. Y. Fan. Grasp generation for machine tending. US Patent 11,919,161, 2024.

  10. H.-C. Lin, Y. Fan, T. Kato. Point set interference check. US Patent 11,878,424, 2024.

  11. Y. Fan. Network modularization to learn high dimensional robot tasks. US Patent 11,809,521, 2023.

  12. Y. Fan. Efficient data generation for grasp learning with general grippers. US Patent 11,654,564, 2023.

  13. H. Akeel, Y. Fan. Vision guided robot path programming. US Patent 10,556,347, 2020.

Journal Articles

  1. K. Wang, Y. Fan, I. Sakuma. Robot grasp planning: A learning from demonstration‑based approach. Sensors, 2024.

  2. K. Wang, Y. Fan, I. Sakuma. Robot programming from a single demonstration for high precision industrial insertion. Sensors, 2023.

  3. Y. Fan, M. Tomizuka. Efficient grasp planning and execution with multifingered hands by surface fitting. IEEE Robotics and Automation Letters, 2019.

  4. Y. Fan, W. Gao, W. Chen, M. Tomizuka. Real‑time finger gaits planning for dexterous manipulation. IFAC‑PapersOnLine, 2017.

Book Chapters

  1. Y. Fan. Robust dexterous manipulation and finger gaiting under various uncertainties. In Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation, Academic Press, 2022.

  2. Y. Fan. Learning industrial assembly by guided‑DDPG. In Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation, Academic Press, 2022.

Dissertation

  1. Y. Fan. Dexterity in robotic grasping, manipulation and assembly. Ph.D. Dissertation, University of California, Berkeley, 2019.

Conference Papers

  1. K. Wang, Y. Fan, I. Sakuma. Robot Grasp Planning from Human Demonstration. 15th International Conference on Computer and Automation Engineering (ICCAE), IEEE, 2023.

  2. X. Zhu, Y. Zhou, Y. Fan, L. Sun, J. Chen, M. Tomizuka. Learn to grasp with less supervision: A data‑efficient maximum likelihood grasp sampling loss. IEEE International Conference on Robotics and Automation (ICRA), 2022.

  3. Y. Fan, X. Zhu, M. Tomizuka. Optimization model for planning precision grasps with multi‑fingered hands. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.

  4. Y. Fan, J. Luo, M. Tomizuka. A learning framework for high precision industrial assembly. IEEE International Conference on Robotics and Automation (ICRA), 2019.

  5. Y. Fan, H.-C. Lin, T. Tang, M. Tomizuka. Grasp planning for customized grippers by iterative surface fitting. IEEE International Conference on Automation Science and Engineering (CASE), 2018. (Best Application Paper Award)

  6. Y. Fan, T. Tang, H.-C. Lin, M. Tomizuka. Real‑time grasp planning for multi‑fingered hands by finger splitting. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

  7. H.-C. Lin, T. Tang, Y. Fan, M. Tomizuka. A framework for robot grasp transferring with non‑rigid transformation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

  8. Y. Fan, T. Tang, H.-C. Lin, Y. Zhao, M. Tomizuka. Real‑time robust finger gaits planning under object shape and dynamics uncertainties. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

  9. Y. Fan, L. Sun, M. Zheng, W. Gao, M. Tomizuka. Robust dexterous manipulation under object dynamics uncertainties. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017. (Best Conference Paper Award Finalist)

  10. H.-C. Lin, C. Liu, Y. Fan, M. Tomizuka. Real‑time collision avoidance algorithm on industrial manipulators. IEEE Conference on Control Technology and Applications (CCTA), 2017.

  11. T. Tang, Y. Fan, H.-C. Lin, M. Tomizuka. State estimation for deformable objects by point registration and dynamic simulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

  12. T. Tang, H.-C. Lin, Y. Fan, M. Tomizuka. Teach industrial robots peg‑hole‑insertion by human demonstration. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016.

  13. H.-C. Lin, Y. Fan, T. Tang, M. Tomizuka. Human guidance programming on a 6‑DoF robot with collision avoidance. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

  14. Y. Fan, H.-C. Lin, Y. Zhao, C.-Y. Lin, T. Tang, M. Tomizuka, W. Chen. Object position and orientation tracking for manipulators considering nonnegligible sensor physics. International Symposium on Flexible Automation (ISFA), 2016.

  15. H.-C. Lin, T. Tang, Y. Fan, Y. Zhao, M. Tomizuka, W. Chen. Robot learning from human demonstration with remote lead-through teaching. European Control Conference (ECC), 2016.