76 citations · 113 across the 16 of their papers we have counts for
19 papers
Mask2Real-WM: Controllable Dexterous World Models via Segmentation Masks as a Sim-to-Real Bridge
Riccardo O. Feingold, Davide Liconti, Chenyu Yang +1
Learning action-conditioned world models for dexterous manipulation that are genuinely controllable requires capturing complex, high-dimensional hand kinematics from limited real-w…
ReBRAC-v2: The Return of the King
Denis Tarasov, Robert K. Katzschmann
Recent offline reinforcement learning methods increasingly rely on expressive generative policies and specialized value-guidance mechanisms. We ask whether comparable progress can…
EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
Ryan Punamiya, Simar Kareer, Zeyi Liu +37
Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternati…
Learning Soft Robotic Dynamics with Active Exploration
Hehui Zheng, Bhavya Sukhija, Chenhao Li +3
Soft robots offer unmatched adaptability and safety in unstructured environments, yet their compliant, high-dimensional, and nonlinear dynamics make modeling for control notoriousl…
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications
Carolina Silva-Plata, Carlos Rosel, Barnabas Gavin Cangan +6
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an onl…
Rotograb: Combining Biomimetic Hands with Industrial Grippers using a Rotating Thumb
Arnaud Bersier, Matteo Leonforte, Alessio Vanetta +6
The development of robotic grippers and hands for automation aims to emulate human dexterity without sacrificing the efficiency of industrial grippers. This study introduces Rotogr…
Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand
Adrian Hess, Alexander M. Kübler, Benedek Forrai +2
Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, a…
PokeFlex: A Real-World Dataset of Volumetric Deformable Objects for Robotics
Jan Obrist, Miguel Zamora, Hehui Zheng +5
Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in pa…
PokeFlex: Towards a Real-World Dataset of Deformable Objects for Robotic Manipulation
Jan Obrist, Miguel Zamora, Hehui Zheng +3
Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robo…
Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints
Amirhossein Kazemipour, Ronan Hinchet, Robert K. Katzschmann
Artificial muscles play a crucial role in musculoskeletal robotics and prosthetics to approximate the force-generating functionality of biological muscle. However, current artifici…
Sensorized Soft Skin for Dexterous Robotic Hands
Jana Egli, Benedek Forrai, Thomas Buchner +3
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable…
Replicating Human Anatomy with Vision Controlled Jetting -- A Pneumatic Musculoskeletal Hand and Forearm
Thomas Buchner, Stefan Weirich, Alexander M. Kübler +2
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid fea…
Multi-tap Resistive Sensing and FEM Modeling enables Shape and Force Estimation in Soft Robots
Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro +3
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors…
Fast Point Cloud to Mesh Reconstruction for Deformable Object Tracking
Elham Amin Mansour, Hehui Zheng, Robert K. Katzschmann
The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedbac…
Perforated red blood cells enable compressible and injectable hydrogels as therapeutic vehicles
Oncay Yasa, Fikru M. Tiruneh, Miriam Filippi +2
Hydrogels engineered for medical use within the human body need to be delivered in a minimally invasive fashion without altering their biochemical and mechanical properties to maxi…
Low Voltage Electrohydraulic Actuators for Untethered Robotics
Stephan-Daniel Gravert, Elia Varini, Amirhossein Kazemipour +4
Rigid robots can be precise in repetitive tasks, but struggle in unstructured environments. Nature's versatility in such environments inspires researchers to develop biomimetic rob…
Vision-Based Online Key Point Estimation of Deformable Robots
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan +2
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reco…
Hydroelastomers: soft, tough, highly swelling composites
Simon Moser, Yanxia Feng, Oncay Yasa +6
Inspired by the cellular design of plant tissue, we present a new approach to make versatile, tough, highly water-swelling composites. We embed highly swelling hydrogel particles i…
Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm
Róbert Szász, Mike Allenspach, Minghao Han +2
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of t…