24 citations · 152 across the 26 of their papers we have counts for
28 papers
asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics
Fang Wan, Guangyi Huang, Tianyu Wu +5
We introduce asRoBallet, to the best of our knowledge, the first end-to-end reinforcement learning (RL) locomotion policy deployed on a humanoid ballbot hardware platform. Historic…
One-DoF Robotic Design of Overconstrained Limbs with Energy-Efficient, Self-Collision-Free Motion
Yuping Gu, Bangchao Huang, Haoran Sun +6
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but…
MagiClaw: A Dual-Use, Vision-Based Soft Gripper for Bridging the Human Demonstration to Robotic Deployment Gap
Tianyu Wu, Xudong Han, Haoran Sun +4
The transfer of manipulation skills from human demonstration to robotic execution is often hindered by a "domain gap" in sensing and morphology. This paper introduces MagiClaw, a v…
A Dataset and Benchmark for Robotic Cloth Unfolding Grasp Selection: The ICRA 2024 Cloth Competition
Victor-Louis De Gusseme, Thomas Lips, Remko Proesmans +59
Robotic cloth manipulation suffers from a lack of standardized benchmarks and shared datasets for evaluating and comparing different approaches. To address this, we created a bench…
On Flange-based 3D Hand-Eye Calibration for Soft Robotic Tactile Welding
Xudong Han, Ning Guo, Yu Jie +3
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. Th…
Close the Sim2real Gap via Physically-based Structured Light Synthetic Data Simulation
Kaixin Bai, Lei Zhang, Zhaopeng Chen +2
Despite the substantial progress in deep learning, its adoption in industrial robotics projects remains limited, primarily due to challenges in data acquisition and labeling. Previ…
Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning
Yenan Chen, Chuye Zhang, Pengxi Gu +10
While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs…
One Fling to Goal: Environment-aware Dynamics for Goal-conditioned Fabric Flinging
Linhan Yang, Lei Yang, Haoran Sun +5
Fabric manipulation dynamically is commonly seen in manufacturing and domestic settings. While dynamically manipulating a fabric piece to reach a target state is highly efficient,…
Describing Robots from Design to Learning: Towards an Interactive Lifecycle Representation of Robots
Nuofan Qiu, Fang Wan, Chaoyang Song
The robot development process is divided into several stages, which create barriers to the exchange of information between these different stages. We advocate for an interactive li…
Proprioceptive State Estimation for Amphibious Tactile Sensing
Ning Guo, Xudong Han, Shuqiao Zhong +5
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic en…
Multi-Layered Reasoning from a Single Viewpoint for Learning See-Through Grasping
Fang Wan, Chaoyang Song
Sensory substitution enables biological systems to perceive stimuli that are typically perceived by another organ, which is inspirational for physical agents. Multimodal perception…
Active Surface with Passive Omni-Directional Adaptation of Soft Polyhedral Fingers for In-Hand Manipulation
Sen Li, Fang Wan, Chaoyang Song
Track systems effectively distribute loads, augmenting traction and maneuverability on unstable terrains, leveraging their expansive contact areas. This tracked locomotion capabili…
Overconstrained Locomotion
Haoran Sun, Bangchao Huang, Zishang Zhang +11
This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capabl…
Autoencoding a Soft Touch to Learn Grasping from On-land to Underwater
Ning Guo, Xudong Han, Xiaobo Liu +6
Robots play a critical role as the physical agent of human operators in exploring the ocean. However, it remains challenging to grasp objects reliably while fully submerging under…
Proprioceptive Learning with Soft Polyhedral Networks
Xiaobo Liu, Xudong Han, Wei Hong +2
Proprioception is the "sixth sense" that detects limb postures with motor neurons. It requires a natural integration between the musculoskeletal systems and sensory receptors, whic…
Jigsaw-based Benchmarking for Learning Robotic Manipulation
Xiaobo Liu, Fang Wan, Sheng Ge +3
Benchmarking provides experimental evidence of the scientific baseline to enhance the progression of fundamental research, which is also applicable to robotics. In this paper, we p…
Underwater Intention Recognition using Head Motion and Throat Vibration for Supernumerary Robotic Assistance
Yuqin Guo, Rongzheng Zhang, Wanghongjie Qiu +3
This study presents a multi-modal mechanism for recognizing human intentions while diving underwater, aiming to achieve natural human-robot interactions through an underwater super…
Learning-based Optoelectronically Innervated Tactile Finger for Rigid-Soft Interactive Grasping
Linhan Yang, Xudong Han, Weijie Guo +3
This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learnin…
Design of an Optoelectronically Innervated Gripper for Rigid-Soft Interactive Grasping
Linhan Yang, Xudong Han, Weijie Guo +4
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust graspi…
DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation
Fang Wan, Haokun Wang, Xiaobo Liu +2
We present DeepClaw as a reconfigurable benchmark of robotic hardware and task hierarchy for robot learning. The DeepClaw benchmark aims at a mechatronics perspective of the robot…
Hybrid Actuator Design for a Gait Augmentation Wearable
Fang Wan, Zheng Wang, Brooke Franchuk +3
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\g…
A Reconfigurable Hybrid Actuator with Rigid and Soft Components
Yaohui Chen, Sing Le, Qiao Chu Tan +3
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft ro…
A Lobster-inspired Robotic Glove for Hand Rehabilitation
Yaohui Chen, Sing Le, Qiao Chu Tan +3
This paper presents preliminary results of the design, development, and evaluation of a hand rehabilitation glove fabricated using lobster-inspired hybrid design with rigid and sof…
Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance
Xia Wu, Haiyuan Liu, Ziqi Liu +6
Many researchers have identified robotics as a potential solution to the aging population faced by many developed and developing countries. If so, how should we address the cogniti…