3 papers
cs.RO2023
The Hydra Hand: A Mode-Switching Underactuated Gripper with Precision and Power Grasping Modes
Digby Chappell, Fernando Bello, Petar Kormushev +1
Human hands are able to grasp a wide range of object sizes, shapes, and weights, achieved via reshaping and altering their apparent grasping stiffness between compliant power and r…
cs.RO2023
When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots
Ke Wang, Zhaoyang Jacopo Hu, Peter Tisnikar +3
Online footstep planning is essential for bipedal walking robots, allowing them to walk in the presence of disturbances and sensory noise. Most of the literature on the topic has f…
cs.RO2023
Immersive Demonstrations are the Key to Imitation Learning
Kelin Li, Digby Chappell, Nicolas Rojas
Achieving successful robotic manipulation is an essential step towards robots being widely used in industry and home settings. Recently, many learning-based methods have been propo…