49 citations · 194 across the 54 of their papers we have counts for
8 papers · 1 filter
Comparing Piezoresistive Substrates for Tactile Sensing in Dexterous Hands
Rebecca Miles, Martin Matak, Sarah Hood +3
While tactile skins have been shown to be useful for detecting collisions between a robotic arm and its environment, they have not been extensively used for improving robotic grasp…
Planning under Uncertainty to Goal Distributions
Adam Conkey, Tucker Hermans
Goals for planning problems are typically conceived of as subsets of the state space. However, for many practical planning problems in robotics, we expect the robot to predict goal…
Risk-Aware Decision Making in Service Robots to Minimize Risk of Patient Falls in Hospitals
Roya Sabbagh Novin, Amir Yazdani, Andrew Merryweather +1
Planning under uncertainty is a crucial capability for autonomous systems to operate reliably in uncertain and dynamic environments. The concern of safety becomes even more critica…
Development of a Novel Computational Model for Evaluating Fall Risk in Patient Room Design
Roya Sabbagh Novin, Ellen Taylor, Tucker Hermans +1
Objectives: The aims of this study are to identify factors in physical environments that contribute to patient falls in hospitals and to propose a computational model to evaluate p…
Multi-Fingered Active Grasp Learning
Qingkai Lu, Mark Van der Merwe, Tucker Hermans
Learning-based approaches to grasp planning are preferred over analytical methods due to their ability to better generalize to new, partially observed objects. However, data collec…
In-Hand Object-Dynamics Inference using Tactile Fingertips
Balakumar Sundaralingam, Tucker Hermans
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial…
Is The Leader Robot an Adequate Sensor for Posture Estimation and Ergonomic Assessment of A Human Teleoperator?
Amir Yazdani, Roya Sabbagh Novin, Andrew Merryweather +1
Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleope…
Benchmarking In-Hand Manipulation
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang +3
The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems. The goal is to assess the system's ability to change the pose…