4 papers · 1 filter
Humanoid Motion Scripting with Postural Synergies
Rhea Malhotra, William Chong, Catie Cuan +1
Generating sequences of human-like motions for humanoid robots presents challenges in collecting and analyzing reference human motions, synthesizing new motions based on these refe…
Friction-Scaled Vibrotactile Feedback for Real-Time Slip Detection in Manipulation using Robotic Sixth Finger
Naqash Afzal, Basma Hasanen, Lakmal Seneviratne +2
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping perfor…
TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning
Jimmy Wu, William Chong, Robert Holmberg +6
Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper prop…
Elly: A Real-Time Failure Recovery and Data Collection System for Robotic Manipulation
Elena Galbally, Adrian Piedra, Cynthia Brosque +1
Even the most robust autonomous behaviors can fail. The goal of this research is to both recover and collect data from failures, during autonomous task execution, so they can be pr…