3 citations · 3 across the 7 of their papers we have counts for
8 papers
GelSlim 5.0: Unifying Vision and Touch with a Single Fingertip Camera
Xiangdong Wang, I-Hsuan Huang, Xiaohao Xu +3
Vision and touch provide complementary cues for object pose and local contact geometry, but external cameras are often occluded at the contact site. We present GelSlim 5.0, a finge…
Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
Wenzhe Tong, Jonathan Mi, Xili Yi +2
This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sen…
Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
Xili Yi, Ying Xing, Zachary Manchester +1
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage…
Vib2Move: In-Hand Object Reconfiguration via Fingertip Micro-Vibrations
Xili Yi, Nima Fazeli
We introduce Vib2Move, a novel approach for in-hand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework co…
Bimanual In-hand Manipulation using Dual Limit Surfaces
An Dang, James Lorenz, Xili Yi +1
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration,…
Visual-auditory Extrinsic Contact Estimation
Xili Yi, Jayjun Lee, Nima Fazeli
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are…
Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces
Xili Yi, Nima Fazeli
In this paper, we discuss the mechanics and planning algorithms to slide an object on a horizontal planar surface via frictional patch contact made with its top surface. Here, we p…
Lumped-Parameter Modeling and Control for Robotic High-Viscosity Fluid Dispensing in Additive Manufacturing
William van den Bogert, James Lorenz, Xili Yi +2
In this paper, we present a novel flow model and compensation strategy for high-viscosity fluid deposition that yields high quality parts in the face of large transient delays and…