3 papers
cs.RO2026
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-…
cs.RO2025
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…
cs.RO2020
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…