176 citations · 341 across the 23 of their papers we have counts for
7 papers · 1 filter
SCU-Hand with Integrated Single-Sheet Valve: A Funnel-Shaped Robotic Hand for Milligram-Scale Powder Handling
Tomoya Takahashi, Yusaku Nakajima, Cristian Camilo Beltran-Hernandez +5
Laboratory Automation (LA) has the potential to accelerate solid-state materials discovery by enabling continuous robotic operation without human intervention. While robotic system…
Learning-based Cooperative Robotic Paper Wrapping: A Unified Control Policy with Residual Force Control
Rewida Ali, Cristian C. Beltran-Hernandez, Weiwei Wan +1
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordin…
PLEXUS Hand: Lightweight Four-Motor Prosthetic Hand Enabling Precision-Lateral Dexterous Manipulation
Yuki Kuroda, Tomoya Takahashi, Cristian C Beltran-Hernandez +2
Electric prosthetic hands should be lightweight to decrease the burden on the user, shaped like human hands for cosmetic purposes, and have motors inside to protect them from damag…
Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery
Mimo Shirasaka, Cristian C. Beltran-Hernandez, Masashi Hamaya +1
Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel appr…
Grounded Vision-Language Interpreter for Long-Horizon Bimanual Task and Motion Planning
Jeremy Siburian, Keisuke Shirai, Cristian C. Beltran-Hernandez +3
While recent advances in vision-language models have accelerated language-guided robot planning, their black-box nature lacks the safety guarantees and interpretability crucial for…
SCU-Hand: Soft Conical Universal Robotic Hand for Scooping Granular Media from Containers of Various Sizes
Tomoya Takahashi, Cristian C. Beltran-Hernandez, Yuki Kuroda +3
Automating small-scale experiments in materials science presents challenges due to the heterogeneous nature of experimental setups. This study introduces the SCU-Hand (Soft Conical…
KeyMPs: One-Shot Vision-Language Guided Motion Generation by Sequencing DMPs for Occlusion-Rich Tasks
Edgar Anarossi, Yuhwan Kwon, Hirotaka Tahara +6
Dynamic Movement Primitives (DMPs) provide a flexible framework wherein smooth robotic motions are encoded into modular parameters. However, they face challenges in integrating mul…