14 citations · 17 across the 8 of their papers we have counts for
9 papers
Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots
Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pa…
Model-Free and Learning-Free Proprioceptive Humanoid Movement Control
Boren Jiang, Ximeng Tao, Yuanfeng Han +2
This paper presents a novel model-free method for humanoid-robot quasi-static movement control. Traditional model-based methods often require precise robot model parameters. Additi…
Watch Me Calibrate My Force-Sensing Shoes!
Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move…
A terrain treadmill to study animal locomotion through large obstacles
Ratan Othayoth, Blake Strebel, Yuanfeng Han +2
A major challenge to understanding locomotion in complex 3-D terrain with large obstacles is to create tools for controlled, systematic lab experiments. Existing terrain arenas onl…
Look at my new blue force-sensing shoes!
Yuanfeng Han, Ruixin Li, Gregory S. Chirikjian
To function autonomously in the physical world, humanoid robots need high-fidelity sensing systems, especially for forces that cannot be easily modeled. Modeling forces in robot fe…
A Learning-Based Approach for Estimating Inertial Properties of Unknown Objects from Encoder Discrepancies
Zizhou Lao, Yuanfeng Han, Yunshan Ma +1
Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to…
Shape-induced obstacle attraction and repulsion during dynamic locomotion
Yuanfeng Han, Ratan Othayoth, Yulong Wang +4
Robots still struggle to dynamically traverse complex 3-D terrain with many large obstacles, an ability required for many critical applications. Body-obstacle interaction is often…
Can I lift it? Humanoid robot reasoning about the feasibility of lifting a heavy box with unknown physical properties
Yuanfeng Han, Ruixin Li, Gregory S. Chirikjian
A robot cannot lift up an object if it is not feasible to do so. However, in most research on robot lifting, "feasibility" is usually presumed to exist a priori. This paper propose…
The Curious Robot: Learning Visual Representations via Physical Interactions
Lerrel Pinto, Dhiraj Gandhi, Yuanfeng Han +2
What is the right supervisory signal to train visual representations? Current approaches in computer vision use category labels from datasets such as ImageNet to train ConvNets. Ho…