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Showing 2024 · cs.ROShow all
2 papers · 2 filters
cs.RO2024★ 4 cited
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
Yuki Shirai, Tong Zhao, H. J. Terry Suh +5
Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesi…
cs.RO2024★ 2 cited
Replicating Human Anatomy with Vision Controlled Jetting -- A Pneumatic Musculoskeletal Hand and Forearm
Thomas Buchner, Stefan Weirich, Alexander M. Kübler +2
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid fea…