1 citations · 2 across the 2 of their papers we have counts for
2 papers
cs.RO2023★ 1 cited
Differential Spiral Joint Mechanism for Coupled Variable Stiffness Actuation
Mincheol Kim, Ashish Deshpande
In this study, we present the Differential Spiral Joint (DSJ) mechanism for variable stiffness actuation in tendon-driven robots. The DSJ mechanism semi-decouples the modulation of…
cs.RO2021★ 1 cited
SCAPE: Learning Stiffness Control from Augmented Position Control Experiences
Mincheol Kim, Scott Niekum, Ashish D. Deshpande
We introduce a sample-efficient method for learning state-dependent stiffness control policies for dexterous manipulation. The ability to control stiffness facilitates safe and rel…