42 citations · 47 across the 8 of their papers we have counts for
9 papers
PolyUMI: Accessible Visual-Tactile-Audio Data Collection for Object Inference and Manipulation
Conor W. Hayes, Rickmer Krohn, Aravind Ramaswami +6
Humans typically rely on vision, touch, hearing, and proprioception to perceive contact and adapt their actions during manipulation. Providing robots with comparable responsiveness…
Learning Therapist Policy from Therapist-Exoskeleton-Patient Interaction
Grayson Snyder, Lorenzo Vianello, Levi Hargrove +2
Post-stroke rehabilitation is often necessary for patients to regain proper walking gait. However, the typical therapy process can be exhausting and physically demanding for therap…
LeVR: A Modular VR Teleoperation Framework for Imitation Learning in Dexterous Manipulation
Zhengyang Kris Weng, Matthew L. Elwin, Han Liu
We introduce LeVR, a modular software framework designed to bridge two critical gaps in robotic imitation learning. First, it provides robust and intuitive virtual reality (VR) tel…
Cooperative Payload Estimation by a Team of Mocobots
Haoxuan Zhang, C. Lin Liu, Matthew L. Elwin +2
For high-performance autonomous manipulation of a payload by a mobile manipulator team, or for collaborative manipulation with the human, robots should be able to discover where ot…
Self-Healing Distributed Swarm Formation Control Using Image Moments
C. Lin Liu, Israel L. Donato Ridgley, Matthew L. Elwin +3
Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to…
Human-Multirobot Collaborative Mobile Manipulation: the Omnid Mocobots
Matthew L. Elwin, Billie Strong, Randy A. Freeman +1
The Omnid human-collaborative mobile manipulators are an experimental platform for testing control architectures for autonomous and human-collaborative multirobot mobile manipulati…
The Interface Usage Skills Test: An Open Source Tool for Quantitative Evaluation in Real Time for Clinicians and Researchers
Mahdieh Nejati Javaremi, Sisilia Sinaga, Yuming Jin +2
Assistive machines endow people with limited mobility the opportunity to live more independently. However, operating these machines poses risks to the safety of the human operator…
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion
Maurice Rahme, Ian Abraham, Matthew L. Elwin +1
We present a sim-to-real framework that uses dynamics and domain randomized offline reinforcement learning to enhance open-loop gaits for legged robots, allowing them to traverse u…
Distributed Fault Detection and Accommodation in Dynamic Average Consensus
Jemin George, Matthew L. Elwin, Randy A. Freeman +1
This paper presents the formulation of fault detection and accommodation schemes for a network of autonomous agents running internal model-based dynamic average consensus algorithm…