29 citations · 45 across the 14 of their papers we have counts for
14 papers
Learning Bimanual Cloth Manipulation with Vision-based Tactile Sensing via Single Robotic Arm
Dongmyoung Lee, Wei Chen, Xiaoshuai Chen +2
Robotic cloth manipulation remains challenging due to the high-dimensional state space of fabrics, their deformable nature, and frequent occlusions that limit vision-based sensing.…
Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER
Rui Zong, Martin Liang, Yuntian Fang +4
Knee-less bipedal robots like SLIDER have the advantage of ultra-lightweight legs and improved walking energy efficiency compared to traditional humanoid robots. In this paper, we…
GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Tasks
Wei Chen, Kelin Li, Dongmyoung Lee +3
Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operation…
Examining the physical and psychological effects of combining multimodal feedback with continuous control in prosthetic hands
Digby Chappell, Zeyu Yang, Angus B. Clark +6
Myoelectric prosthetic hands are typically controlled to move between discrete positions and do not provide sensory feedback to the user. In this work, we present and evaluate a cl…
Beyond Humanoid Prosthetic Hands: Modular Terminal Devices That Improve User Performance
Digby Chappell, Barry Mulvey, Shehara Perera +3
Despite decades of research and development, myoelectric prosthetic hands lack functionality and are often rejected by users. This lack in functionality can be partially attributed…
Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR
Kelin Li, Shubham M Wagh, Nitish Sharma +4
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artific…
A Backbone for Long-Horizon Robot Task Understanding
Xiaoshuai Chen, Wei Chen, Dongmyoung Lee +3
End-to-end robot learning, particularly for long-horizon tasks, often results in unpredictable outcomes and poor generalization. To address these challenges, we propose a novel The…
The Hydra Hand: A Mode-Switching Underactuated Gripper with Precision and Power Grasping Modes
Digby Chappell, Fernando Bello, Petar Kormushev +1
Human hands are able to grasp a wide range of object sizes, shapes, and weights, achieved via reshaping and altering their apparent grasping stiffness between compliant power and r…
When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots
Ke Wang, Zhaoyang Jacopo Hu, Peter Tisnikar +3
Online footstep planning is essential for bipedal walking robots, allowing them to walk in the presence of disturbances and sensory noise. Most of the literature on the topic has f…
OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion
Vittorio La Barbera, Fabio Pardo, Yuval Tassa +4
Muscle-actuated control is a research topic that spans multiple domains, including biomechanics, neuroscience, reinforcement learning, robotics, and graphics. This type of control…
Fast Online Optimization for Terrain-Blind Bipedal Robot Walking with a Decoupled Actuated SLIP Model
Ke Wang, Hengyi Fei, Petar Kormushev
We present a highly reactive controller which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The high level motion planner doe…
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
Ke Wang, Guiyang Xin, Songyan Xin +3
To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by propo…
Policy Manifold Search: Exploring the Manifold Hypothesis for Diversity-based Neuroevolution
Nemanja Rakicevic, Antoine Cully, Petar Kormushev
Neuroevolution is an alternative to gradient-based optimisation that has the potential to avoid local minima and allows parallelisation. The main limiting factor is that usually it…
Policy Manifold Search for Improving Diversity-based Neuroevolution
Nemanja Rakicevic, Antoine Cully, Petar Kormushev
Diversity-based approaches have recently gained popularity as an alternative paradigm to performance-based policy search. A popular approach from this family, Quality-Diversity (QD…