52 citations · 204 across the 57 of their papers we have counts for
6 papers · 1 filter
Contact-Implicit Planning and Control for Non-Prehensile Manipulation Using State-Triggered Constraints
Maozhen Wang, Aykut Ozgun Onol, Philip Long +1
We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial gue…
SLURP! Spectroscopy of Liquids Using Robot Pre-Touch Sensing
Nathaniel Hanson, Wesley Lewis, Kavya Puthuveetil +4
Liquids and granular media are pervasive throughout human environments. Their free-flowing nature causes people to constrain them into containers. We do so with thousands of differ…
StereoVoxelNet: Real-Time Obstacle Detection Based on Occupancy Voxels from a Stereo Camera Using Deep Neural Networks
Hongyu Li, Zhengang Li, Neset Unver Akmandor +3
Obstacle detection is a safety-critical problem in robot navigation, where stereo matching is a popular vision-based approach. While deep neural networks have shown impressive resu…
Deep Reinforcement Learning based Robot Navigation in Dynamic Environments using Occupancy Values of Motion Primitives
Neşet Ünver Akmandor, Hongyu Li, Gary Lvov +2
This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than…
Pregrasp Object Material Classification by a Novel Gripper Design with Integrated Spectroscopy
Nathaniel Hanson, Tarik Kelestemur, Deniz Erdogmus +1
Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects…
Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation
Tarik Kelestemur, Robert Platt, Taskin Padir
Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to e…