37 citations · 82 across the 21 of their papers we have counts for
22 papers
Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback
Litian Liang, Jingxi Xu, Xinda Qi +7
For robots to work safely in household environments, they need to be compliant and react to torque and force feedback during contact. However, the majority of existing data collect…
Long-Reach Robotic Manipulation for Assembly and Outfitting of Lunar Structures
Stanley Wang, Venny Kojouharov, Long Yin Chung +2
Future infrastructure construction on the lunar surface will require semi- or fully-autonomous operation from robots deployed at the build site. In particular, tasks such as electr…
TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer
Chengyi Xing, Hao Li, Yi-Lin Wei +6
Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robot…
Whisker-Inspired Tactile Sensing: A Sim2Real Approach for Precise Underwater Contact Tracking
Hao Li, Chengyi Xing, Saad Khan +2
Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing…
Locomotion as Manipulation with ReachBot
Tony G. Chen, Stephanie Newdick, Julia Di +5
Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To sup…
Martian Exploration of Lava Tubes (MELT) with ReachBot: Scientific Investigation and Concept of Operations
Julia Di, Sara Cuevas-Quinones, Stephanie Newdick +4
As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigm…
Navigation and 3D Surface Reconstruction from Passive Whisker Sensing
Michael A. Lin, Hao Li, Chengyi Xing +1
Whiskers provide a way to sense surfaces in the immediate environment without disturbing it. In this paper we present a method for using highly flexible, curved, passive whiskers m…
ReachBot Field Tests in a Mojave Desert Lava Tube as a Martian Analog
Tony G. Chen, Julia Di, Stephanie Newdick +3
ReachBot is a robot concept for the planetary exploration of caves and lava tubes, which are often inaccessible with traditional robot locomotion methods. It uses extendable booms…
Grasp as You Say: Language-guided Dexterous Grasp Generation
Yi-Lin Wei, Jian-Jian Jiang, Chengyi Xing +5
This paper explores a novel task "Dexterous Grasp as You Say" (DexGYS), enabling robots to perform dexterous grasping based on human commands expressed in natural language. However…
Task-Driven Manipulation with Reconfigurable Parallel Robots
Daniel Morton, Mark Cutkosky, Marco Pavone
ReachBot, a proposed robotic platform, employs extendable booms as limbs for mobility in challenging environments, such as martian caves. When attached to the environment, ReachBot…
Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors
Julia Di, Zdravko Dugonjic, Will Fu +11
Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniatu…
Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter
Dane Brouwer, Joshua Citron, Hojung Choi +4
It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. W…
Feed Me: Robotic Infiltration of Poison Frog Families
Tony G. Chen, Billie C. Goolsby, Guadalupe Bernal +2
We present the design and operation of tadpole-mimetic robots prepared for a study of the parenting behaviors of poison frogs, which pair bond and raise their offspring. The missio…
Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators
Michael A. Lin, Emilio Reyes, Jeannette Bohg +1
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This wor…
Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission
Stephanie Newdick, Tony G. Chen, Benjamin Hockman +3
In this paper we present a trade study-based method to optimize the architecture of ReachBot, a new robotic concept that uses deployable booms as prismatic joints for mobility in e…
Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter
Rachel Thomasson, Etienne Roberge, Mark R. Cutkosky +1
Robotic manipulators navigating cluttered shelves or cabinets may find it challenging to avoid contact with obstacles. Indeed, rearranging obstacles may be necessary to access a ta…
Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force
Hojung Choi, Dane Brouwer, Michael A. Lin +5
When humans socially interact with another agent (e.g., human, pet, or robot) through touch, they do so by applying varying amounts of force with different directions, locations, c…
Motion Planning for a Climbing Robot with Stochastic Grasps
Stephanie Newdick, Nitin Ongole, Tony G. Chen +3
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focu…
ReachBot: A Small Robot for Large Mobile Manipulation Tasks
Stephanie Schneider, Andrew Bylard, Tony G. Chen +3
Robots are widely deployed in space environments because of their versatility and robustness. However, adverse gravity conditions and challenging terrain geometry expose the limita…
Distributed Sensor Networks Deployed Using Soft Growing Robots
Alexander M. Gruebele, Andrew C. Zerbe, Margaret M. Coad +2
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing…
Design and Development of a Gecko-Adhesive Gripper for the Astrobee Free-Flying Robot
A. Cauligi, T. G. Chen, S. A. Suresh +5
Assistive free-flying robots are a promising platform for supporting and working alongside astronauts in carrying out tasks that require interaction with the environment. However,…
Perceived Intensities of Normal and Shear Skin Stimuli using a Wearable Haptic Bracelet
Mine Sarac, Tae Myung Huh, Hojung Choi +3
Our aim is to provide effective interaction with virtual objects, despite the lack of co-location of virtual and real-world contacts, while taking advantage of relatively large ski…