116 citations · 183 across the 6 of their papers we have counts for
6 papers · 1 filter
TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation
Zhaofeng Luo, Xinyu Lu, Jaehoon Choi +11
Applying adhesive tape to secure wire harnesses or seal packages requires robots to coordinate a flexible strip, a moving roll, and surfaces that attach and detach. Simulation coul…
Tactile Genesis: Exploring Tactile Sensors at Scale for Learning Dexterous Tasks
Trinity Chung, Kashu Yamazaki, Dhruv Patel +4
Tactile sensing is critical for contact-rich dexterous manipulation, yet it remains unclear which tactile abstractions a policy needs and when richer tactile fields justify their h…
Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante
Alexis Duburcq, Fabian Schramm, Guilhem Boéris +2
State-of-the-art reinforcement learning is now able to learn versatile locomotion, balancing and push-recovery capabilities for bipedal robots in simulation. Yet, the reality gap h…
Online Trajectory Planning Through Combined Trajectory Optimization and Function Approximation: Application to the Exoskeleton Atalante
Alexis Duburcq, Yann Chevaleyre, Nicolas Bredeche +1
Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally d…
Towards Variable Assistance for Lower Body Exoskeletons
Thomas Gurriet, Maegan Tucker, Alexis Duburcq +2
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work…
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
Omar Harib, Ayonga Hereid, Ayush Agrawal +9
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use…