47 citations · 102 across the 7 of their papers we have counts for
7 papers
Reduced Dynamics and Control for an Autonomous Bicycle
Jiaming Xiong, Bo Li, Ruihan Yu +3
In this paper, we propose the reduced model for the full dynamics of a bicycle and analyze its nonlinear behavior under a proportional control law for steering. Based on the Gibbs-…
Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements
Daolin Ma, Siyuan Dong, Alberto Rodriguez
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed ta…
6DLS: Modeling Nonplanar Frictional Surface Contacts for Grasping using 6D Limit Surfaces
Jingyi Xu, Tamay Aykut, Daolin Ma +1
Robot grasping with deformable gripper jaws results in nonplanar surface contacts if the jaws deform to the nonplanar local geometry of an object. The frictional force and torque t…
Maintaining Grasps within Slipping Bound by Monitoring Incipient Slip
Siyuan Dong, Daolin Ma, Elliott Donlon +1
In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures…
Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM
Daolin Ma, Elliott Donlon, Siyuan Dong +1
In this paper, we present a new version of tactile sensor GelSlim 2.0 with the capability to estimate the contact force distribution in real time. The sensor is vision-based and us…
Friction Variability in Planar Pushing Data: Anisotropic Friction and Data-collection Bias
Daolin Ma, Alberto Rodriguez
Friction plays a key role in manipulating objects. Most of what we do with our hands, and most of what robots do with their grippers, is based on the ability to control frictional…