28 citations · 76 across the 9 of their papers we have counts for
10 papers
Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five
Simon Fritsch, Liam Achenbach, Riccardo Bianco +9
This paper presents the SABD hand, a 16-degree-of-freedom (DoF) robotic hand that departs from purely anthropomorphic designs to achieve an expanded grasp envelope, enable manipula…
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning
Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis +8
General-purpose robots should possess human-like dexterity and agility to perform tasks with the same versatility as us. A human-like form factor further enables the use of vast da…
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications
Carolina Silva-Plata, Carlos Rosel, Barnabas Gavin Cangan +6
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an onl…
Multi-tap Resistive Sensing and FEM Modeling enables Shape and Force Estimation in Soft Robots
Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro +3
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors…
Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World
Nico Gürtler, Felix Widmaier, Cansu Sancaktar +21
Experimentation on real robots is demanding in terms of time and costs. For this reason, a large part of the reinforcement learning (RL) community uses simulators to develop and be…
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints
Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan +4
Biomimetic, dexterous robotic hands have the potential to replicate much of the tasks that a human can do, and to achieve status as a general manipulation platform. Recent advances…
Autonomous Marker-less Rapid Aerial Grasping
Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where u…
Vision-Based Online Key Point Estimation of Deformable Robots
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan +2
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reco…
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing
Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang +3
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estima…
Anticipatory Human-Robot Path Planning for Search and Rescue
Barnabas Gavin Cangan, Larkin Heintzman, Amanda Hashimoto +2
In this work, our goal is to extend the existing search and rescue paradigm by allowing teams of autonomous unmanned aerial vehicles (UAVs) to collaborate effectively with human se…