2 citations · 3 across the 6 of their papers we have counts for
6 papers
Robust self-propulsion in sand using simply controlled vibrating cubes
Bangyuan Liu, Tianyu Wang, Velin Kojouharov +2
Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices…
Integrating Reconfigurable Foot Design, Multi-modal Contact Sensing, and Terrain Classification for Bipedal Locomotion
Ted Tyler, Vaibhav Malhotra, Adam Montague +3
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, b…
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation
Lasitha Wijayarathne, Ziyi Zhou, Ye Zhao +1
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of acc…
Design-Informed Kinematic Control for Improved Dexterous Teleoperation of a Bilateral Manipulator System
Lasitha Wijayarathne, Juan Vallejo, Anthony Barnum +2
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motio…
Identification of Compliant Contact Parameters and Admittance Force Modulation on a Non-stationary Compliant Surface
Lasitha Wijayarathne, Frank L. Hammond
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and perfo…
Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics
Lasitha Wijayarathne, Qie Sima, Ziyi Zhou +2
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate int…