21 citations · 34 across the 19 of their papers we have counts for
5 papers · 1 filter
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…