218 citations · 396 across the 14 of their papers we have counts for
5 papers · 1 filter
Design of a Multimodal Fingertip Sensor for Dynamic Manipulation
Andrew SaLoutos, Elijah Stanger-Jones, Menglong Guo +2
We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physica…
Towards Robust Autonomous Grasping with Reflexes Using High-Bandwidth Sensing and Actuation
Andrew SaLoutos, Hongmin Kim, Elijah Stanger-Jones +2
Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system…
Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform
Andrew SaLoutos, Elijah Stanger-Jones, Sangbae Kim
We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two ma…
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Charles Khazoom, Daniel Gonzalez-Diaz, Yanran Ding +1
This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-col…
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking
Yanran Ding, Charles Khazoom, Matthew Chignoli +1
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, th…