49 citations · 125 across the 28 of their papers we have counts for
8 papers · 1 filter
Collision-Inclusive Manipulation Planning for Occluded Object Grasping via Compliant Robot Motions
Kejia Ren, Gaotian Wang, Andrew S. Morgan +1
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that ca…
Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation
Weihang Guo, Zachary Kingston, Kaiyu Hang +1
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construc…
Caging in Time: A Framework for Robust Object Manipulation under Uncertainties and Limited Robot Perception
Gaotian Wang, Kejia Ren, Andrew S. Morgan +1
Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based mani…
Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation
Kejia Ren, Gaotian Wang, Andrew S. Morgan +2
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from int…
UNO Push: Unified Nonprehensile Object Pushing via Non-Parametric Estimation and Model Predictive Control
Gaotian Wang, Kejia Ren, Kaiyu Hang
Nonprehensile manipulation through precise pushing is an essential skill that has been commonly challenged by perception and physical uncertainties, such as those associated with c…
Interactive Robot-Environment Self-Calibration via Compliant Exploratory Actions
Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace +2
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, et…
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features
Howard H. Qian, Yangxiao Lu, Kejia Ren +4
In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other o…
Wearable Roller Rings to Augment In-Hand Manipulation through Active Surfaces
Hayden Webb, Podshara Chanrungmaneekul, Shenli Yuan +1
In-hand manipulation is a crucial ability for reorienting and repositioning objects within grasps. The main challenges in this are not only the complexity of the computational mode…