2 citations · 3 across the 5 of their papers we have counts for
5 papers
Two Degree-of-Freedom Vibratory Transport in a Grasp
C. L. Yako, Shenli Yuan, Kenneth Salisbury
In this paper, we use asymmetric vibrations to demonstrate two degree-of-freedom (DoF) in-hand manipulation of grasped parts. The asymmetric vibrations are achieved through closed-…
Vertical Vibratory Transport of Grasped Parts Using Impacts
C. L. Yako, Jérôme Nowak, Shenli Yuan +1
In this paper, we use impact-induced acceleration in conjunction with periodic stick-slip to successfully and quickly transport parts vertically against gravity. We show analytical…
Tactile-Reactive Roller Grasper
Shenli Yuan, Shaoxiong Wang, Radhen Patel +4
Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic…
Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based Analysis
C. L. Yako, Shenli Yuan, J. Kenneth Salisbury
This paper introduces an extension to the energy map method for in-hand manipulation. Energy maps are used to predict how a part will evolve in the grasp given a specific actuation…
Design and Control of Roller Grasper V2 for In-Hand Manipulation
Shenli Yuan, Lin Shao, Connor L. Yako +2
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and…