6 papers
Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References
Carlos Gonzalez, Luis Sentis
Humanoid locomotion in highly confined environments requires navigating dense environmental obstacles and complex self-collision bounds while maintaining multi-contact dynamic feas…
A Bilateral Teleoperation Framework for Dexterous Manipulation
Stefano Dalla Gasperina, Dong Ho Kang, Haiyun Zhang +10
Dexterous teleoperation requires precise arm-hand coordination, low-latency feedback, and robust interaction in real-world contact-rich environments. This paper presents a modular…
ARISTO Hand: Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation
Aaron Kim, Dong Ho Kang, Mark Helwig +4
Manipulating thin objects requires precise contact geometry and reliable force perception, yet many anthropomorphic robotic hands lack the mechanical and sensing capabilities neede…
PLATO Hand: Shaping Contact Behavior with Fingernails for Precise Manipulation
Dong Ho Kang, Aaron Kim, Mingyo Seo +3
We present the PLATO Hand, a dexterous robotic hand with a hybrid fingertip that combines a rigid fingernail, embedded distal phalanx, and compliant pulp to shape contact behavior…
HARMONIC: A Content-Centric Cognitive Robotic Architecture
Sanjay Oruganti, Sergei Nirenburg, Marjorie McShane +6
This paper introduces HARMONIC, a cognitive-robotic architecture designed for robots in human-robotic teams. HARMONIC supports semantic perception interpretation, human-like decisi…
LEGATO: Cross-Embodiment Imitation Using a Grasping Tool
Mingyo Seo, H. Andy Park, Shenli Yuan +2
Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning…