9 citations · 21 across the 17 of their papers we have counts for
17 papers
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin
Haofeng Chen, Carson Kohlbrenner, Jiri Kubik +6
Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments, but conventional taxel arrays scale poorly with surface area, wiring com…
Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations
Nataliya Nechyporenko, Ava Abderezaei, Alessandro Roncone
Contact planning in robotics requires models that are both computationally efficient and physically accurate. Sphere-based robot representations satisfy the first requirement by en…
Improving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials
Carson Kohlbrenner, Caleb Escobedo, Sayak Ray +5
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid material…
Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance
Carson Kohlbrenner, Niraj Pudasaini, William Xie +3
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. Howe…
Form-Fitting, Large-Area Sensor Mounting for Obstacle Detection
Anna Soukhovei, Carson Kohlbrenner, Caleb Escobedo +3
We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage that does not require the sensor's positions or orientations to be calibrated b…
A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers
Caleb Escobedo, Nataliya Nechyporenko, Shreyas Kadekodi +1
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, method…
Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
Yaashia Gautam, Gilberto Briscoe-Martinez, Adhitya Mohan +3
This paper introduces the Compliant Explicit Reference Governor (CERG), a modular reference management system that enables robots to interact physically with their environment unde…
GenTact Toolbox: A Computational Design Pipeline to Procedurally Generate Context-Driven 3D Printed Whole-Body Artificial Skins
Carson Kohlbrenner, Caleb Escobedo, S. Sandra Bae +2
Developing whole-body tactile skins for robots remains a challenging task, as existing solutions often prioritize modular, one-size-fits-all designs, which, while versatile, fail t…
A Machine Learning Approach to Contact Localization in Variable Density Three-Dimensional Tactile Artificial Skin
Carson Kohlbrenner, Mitchell Murray, Yutong Zhang +5
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization method…
A Sensor Position Localization Method for Flexible, Non-Uniform Capacitive Tactile Sensor Arrays
Carson Kohlbrenner, Caleb Escobedo, Nataliya Nechyporenko +1
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density o…
ROMA-iQSS: An Objective Alignment Approach via State-Based Value Learning and ROund-Robin Multi-Agent Scheduling
Chi-Hui Lin, Joewie J. Koh, Alessandro Roncone +1
Effective multi-agent collaboration is imperative for solving complex, distributed problems. In this context, two key challenges must be addressed: first, autonomously identifying…
CAT-RRT: Motion Planning that Admits Contact One Link at a Time
Nataliya Nechyporenko, Caleb Escobedo, Shreyas Kadekodi +1
Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leave…
Contact Anticipation for Physical Human-Robot Interaction with Robotic Manipulators using Onboard Proximity Sensors
Caleb Escobedo, Matthew Strong, Mary West +2
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and…
Self-Contained Kinematic Calibration of a Novel Whole-Body Artificial Skin for Human-Robot Collaboration
Kandai Watanabe, Matthew Strong, Mary West +4
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approa…
Volumetric Data Fusion of External Depth and Onboard Proximity Data For Occluded Space Reduction
Matthew Strong, Caleb Escobedo, Alessandro Roncone
In this work, we present a method for a probabilistic fusion of external depth and onboard proximity data to form a volumetric 3-D map of a robot's environment. We extend the Octom…
Cooperative Control of Mobile Robots with Stackelberg Learning
Joewie J. Koh, Guohui Ding, Christoffer Heckman +2
Multi-robot cooperation requires agents to make decisions that are consistent with the shared goal without disregarding action-specific preferences that might arise from asymmetry…
Distributed Reinforcement Learning for Cooperative Multi-Robot Object Manipulation
Guohui Ding, Joewie J. Koh, Kelly Merckaert +5
We consider solving a cooperative multi-robot object manipulation task using reinforcement learning (RL). We propose two distributed multi-agent RL approaches: distributed approxim…