61 citations · 68 across the 10 of their papers we have counts for
4 papers · 1 filter
Automating Vascular Shunt Insertion with the dVRK Surgical Robot
Karthik Dharmarajan, Will Panitch, Muyan Jiang +7
Vascular shunt insertion is a fundamental surgical procedure used to temporarily restore blood flow to tissues. It is often performed in the field after major trauma. We formulate…
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception
Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu +6
Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling. This paper extends prior work on autonomously untangling long cables by introducing…
SpeedFolding: Learning Efficient Bimanual Folding of Garments
Yahav Avigal, Lars Berscheid, Tamim Asfour +2
Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An…
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport
Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao +1
Suction cup grasping is very common in industry, but moving too quickly can cause suction cups to detach, causing drops or damage. Maintaining a suction grasp throughout a high-spe…