14 citations · 17 across the 8 of their papers we have counts for
6 papers · 1 filter
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…
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…
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…