11 papers
Wrench-Based Bayesian Pose Estimation via Matrix--Fisher Gaussian Inference
Jianyu Chen, Lin Yang, Yibang Li +2
In this paper, a residual-safeguarded local Matrix Fisher--Gaussian (MFG) inference method is developed for wrench-based pose estimation on . The…
Haptic Sorter: A Unified Planning Framework for Online Shape Estimation and Real-Time Pose Inference
Zhuoyi Lu, Lin Yang, Sri Harsha Turlapati +1
Robotics manipulation usually assumes that the shape and pose of the object are known to the robot prior to motion planning. However, precise geometric information is not always av…
Industrial Dual-Arm Box Handling via Online Inertial Estimation and Convex Wrench Optimization
Kenzhi Iskandar Wong, Lin Yang, Qian Ying Lee +1
Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance re…
Whole-body motion planning and safety-critical control for aerial manipulation
Lin Yang, Jinwoo Lee, Domenico Campolo +2
Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feas…
Adaptive Manipulation Potential and Haptic Estimation for Tool-Mediated Interaction
Lin Yang, Anirvan Dutta, Yuan Ji +5
Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing…
Generalizing Robot Trajectories from Single-Context Human Demonstrations: A Probabilistic Approach
Qian Ying Lee, Suhas Raghavendra Kulkarni, Kenzhi Iskandar Wong +4
Generalizing robot trajectories from human demonstrations to new contexts remains a key challenge in Learning from Demonstration (LfD), particularly when only single-context demons…