8 citations · 14 across the 24 of their papers we have counts for
28 papers
Construction of log Calabi--Yau boundaries from int-amplified endomorphisms
Shou Yoshikawa
In this paper, we prove that -Gorenstein projective complex varieties admitting int-amplified endomorphisms are of Calabi--Yau type.
UMI-WM: Interactive World Modeling for Bimanual Manipulation from Wrist Cameras
Jingxiang Guo, Haoyu Zhao, Xidong Zhang +6
Universal Manipulation Interface (UMI) pairs wrist-camera videos with camera trajectories and gripper openings, providing scalable, robot-free data for learning how bimanual action…
A Deployable Four-Finger Payload for Teleoperated Free-Flying Manipulation with Astrobee
William Su, Jordan Kam, Yunosuke Nakamura +3
This article presents a bimanual teleoperation pipeline and conceptual design of a deployable four-finger payload for intra-vehicular free-flyers. Future habitats in low-Earth orbi…
A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation
William Su, Yunosuke Nakamura, Yixiao Wang +6
In-hand assembly is constrained by the need to maintain grasps on two separate parts while controlling their relative motion within a single hand. To enable both in-hand assembly a…
SpectraTac: A Compact Camera-Free Optical Tactile Sensor with Distributed Color Sensing
Hao Wu, Haotian Guo, Yu Feng +3
Tactile sensing is essential for physical interaction in robotics and human--machine systems. However, combining rich tactile information with compact hardware, low cost, and low c…
LARC: Lazy Adaptive Reachability Certification of Robot Manipulator Trajectories
Yu Feng, Hao Wu, Yuzhe Wang +1
Discrete trajectory checks can miss collisions between sampled robot states. Reachability-based certification bounds motion between states, but uniform time partitions waste comput…
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning
Shilin Shan, Chuhao Zhou, Ruize Wang +30
Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical…
DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity
Hao Wu, Yanzhe Wang, Yu Feng +4
Dexterous robotic hands face a longstanding trade-off among dexterity, compactness, and affordability. Particularly, high-degree-of-freedom designs typically demand complex actuati…
SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity
Hao Wu, Yanzhe Wang, Yu Feng +4
Designing anthropomorphic robotic hands that balance functional dexterity with mechanical simplicity remains a significant challenge. Inspired by human hand synergies, this paper p…
Hamilton--Jacobi Reachability for Spacecraft Collision Avoidance
Larry Hui, Jordan Kam, William Su +1
This article presents a Hamilton--Jacobi (HJ) reachability framework for a two--satellite collision avoidance problem operating in the same circular orbit, where relative motion is…
A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
William Su, Jordan Kam, Yixiao Wang +1
Astrobee's existing one-degree-of-freedom (DOF) underactuated compliant claw gripper enables perching on the International Space Station (ISS), but provides limited capability for…
Everything-Grasping (EG) Gripper: A Universal Gripper with Synergistic Suction-Grasping Capabilities for Cross-Scale and Cross-State Manipulation
Jianshu Zhou, Jing Shu, Tianle Pan +7
Grasping objects across vastly different sizes and physical states-including both solids and liquids-with a single robotic gripper remains a fundamental challenge in soft robotics.…
Programmable Locking Cells (PLC) for Modular Robots with High Stiffness Tunability and Morphological Adaptability
Jianshu Zhou, Wei Chen, Junda Huang +3
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-for…
HandCept: A Visual-Inertial Fusion Framework for Accurate Proprioception in Dexterous Hands
Huang Junda, Honghao Guo, Hao Wu +3
As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limit…
Few-shot Sim2Real Based on High Fidelity Rendering with Force Feedback Teleoperation
Yanwen Zou, Junda Huang, Boyuan Liang +5
Teleoperation offers a promising approach to robotic data collection and human-robot interaction. However, existing teleoperation methods for data collection are still limited by e…
Unified Manipulability and Compliance Analysis of Modular Soft-Rigid Hybrid Fingers
Jianshu Zhou, Boyuan Liang, Junda Huang +1
This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneuma…
Fish Mouth Inspired Origami Gripper for Robust Multi-Type Underwater Grasping
Honghao Guo, Junda Huang, Ian Zhang +4
Robotic grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water condit…
Prismatic-Bending Transformable (PBT) Joint for a Modular, Foldable Manipulator with Enhanced Reachability and Dexterity
Jianshu Zhou, Junda Huang, Boyuan Liang +3
Robotic manipulators, traditionally designed with classical joint-link articulated structures, excel in industrial applications but face challenges in human-centered and general-pu…
Global-Local Interface for On-Demand Teleoperation
Jianshu Zhou, Boyuan Liang, Junda Huang +2
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing te…
Embodiment-Agnostic Action Planning via Object-Part Scene Flow
Weiliang Tang, Jia-Hui Pan, Wei Zhan +6
Observing that the key for robotic action planning is to understand the target-object motion when its associated part is manipulated by the end effector, we propose to generate the…
A Minimal Set of Parameters Based Depth-Dependent Distortion Model and Its Calibration Method for Stereo Vision Systems
Xin Ma, Puchen Zhu, Xiao Li +4
Depth position highly affects lens distortion, especially in close-range photography, which limits the measurement accuracy of existing stereo vision systems. Moreover, traditional…
Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement
Yiang Lu, Bin Li, Wei Chen +6
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However,…
Two-Stage Grasping: A New Bin Picking Framework for Small Objects
Hanwen Cao, Jianshu Zhou, Junda Huang +5
This paper proposes a novel bin picking framework, two-stage grasping, aiming at precise grasping of cluttered small objects. Object density estimation and rough grasping are condu…
Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning
Yiang Lu, Ruofeng Wei, Bin Li +5
Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling unc…