69 citations · 99 across the 8 of their papers we have counts for
9 papers
Phy-Tac: Toward Human-Like Grasping via Physics-Conditioned Tactile Goals
Shipeng Lyu, Lijie Sheng, Fangyuan Wang +5
Humans naturally grasp objects with minimal level required force for stability, whereas robots often rely on rigid, over-squeezing control. To narrow this gap, we propose a human-i…
SWheg: A Wheel-Leg Transformable Robot With Minimalist Actuator Realization
Cunxi Dai, Xiaohan Liu, Jianxiang Zhou +2
This article presents the design, implementation, and performance evaluation of SWheg, a novel modular wheel-leg transformable robot family with minimalist actuator realization. SW…
Predict the Rover Mobility over Soft Terrain using Articulated Wheeled Bevameter
Wenyao Zhang, Shipeng Lv, Feng Xue +3
Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip an…
Multi-Sensor State Estimation Fusion on Quadruped Robot Locomotion
Chen Yao, Zhenzhong Jia
In this paper, we present a effective state estimation algorithm that combined with various sensors information (Inertial measurement unit, joints encoder, camera and LIDAR)
Manipulation with Shared Grasping
Yifan Hou, Zhenzhong Jia, Matthew T. Mason
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a…
Reorienting Objects in 3D Space Using Pivoting
Yifan Hou, Zhenzhong Jia, Matthew T. Mason
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-…
Adversary A3C for Robust Reinforcement Learning
Zhaoyuan Gu, Zhenzhong Jia, Howie Choset
Asynchronous Advantage Actor Critic (A3C) is an effective Reinforcement Learning (RL) algorithm for a wide range of tasks, such as Atari games and robot control. The agent learns p…
Adaptive dynamic programming for nonaffine nonlinear optimal control problem with state constraints
Jingliang Duan, Zhengyu Liu, Shengbo Eben Li +3
This paper presents a constrained adaptive dynamic programming (CADP) algorithm to solve general nonlinear nonaffine optimal control problems with known dynamics. Unlike previous A…
MRS-VPR: a multi-resolution sampling based global visual place recognition method
Peng Yin, Rangaprasad Arun Srivatsan, Yin Chen +7
Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches to achieving l…