76 citations · 100 across the 10 of their papers we have counts for
11 papers
All You Need Is Low Fidelity: Zero-Shot Sim-to-Real of Learned Robotic Fish Control
Liam Maloney, Simon Ramchandani, Mike Y. Michelis +2
Complex tasks for underwater robots remain limited by the capabilities of their controllers. Learning a better one for a soft, underactuated robotic fish trades simulator cost agai…
A Benchmark of Dexterity for Anthropomorphic Robotic Hands
Davide Liconti, Yuning Zhou, Yasunori Toshimitsu +2
Dexterity is a central yet ambiguously defined concept in the design and evaluation of anthropomorphic robotic hands. In practice, the term is often used inconsistently, with diffe…
A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators
Misato Sonoda, Ronan Hinchet, Amirhossein Kazemipour +2
Robotic manipulation in unstructured environments requires end-effectors that combine kinematic dexterity with physical compliance. While traditional rigid hands rely on complex ex…
Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five
Simon Fritsch, Liam Achenbach, Riccardo Bianco +9
This paper presents the SABD hand, a 16-degree-of-freedom (DoF) robotic hand that departs from purely anthropomorphic designs to achieve an expanded grasp envelope, enable manipula…
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning
Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis +8
General-purpose robots should possess human-like dexterity and agility to perform tasks with the same versatility as us. A human-like form factor further enables the use of vast da…
PokeFlex: A Real-World Dataset of Volumetric Deformable Objects for Robotics
Jan Obrist, Miguel Zamora, Hehui Zheng +5
Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in pa…
Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints
Amirhossein Kazemipour, Ronan Hinchet, Robert K. Katzschmann
Artificial muscles play a crucial role in musculoskeletal robotics and prosthetics to approximate the force-generating functionality of biological muscle. However, current artifici…
Modal Folding: Discovering Smooth Folding Patterns for Sheet Materials using Strain-Space Modes
Pengbin Tang, Ronan Hinchet, Roi Poranne +2
Folding can transform mundane objects such as napkins into stunning works of art. However, finding new folding transformations for sheet materials is a challenging problem that req…
Low Voltage Electrohydraulic Actuators for Untethered Robotics
Stephan-Daniel Gravert, Elia Varini, Amirhossein Kazemipour +4
Rigid robots can be precise in repetitive tasks, but struggle in unstructured environments. Nature's versatility in such environments inspires researchers to develop biomimetic rob…
Differentiable Stripe Patterns for Inverse Design of Structured Surfaces
Juan Montes Maestre, Yinwei Du, Ronan Hinchet +2
Stripe patterns are ubiquitous in nature and everyday life. While the synthesis of these patterns has been thoroughly studied in the literature, their potential to control the mech…
Computational Design of Active Kinesthetic Garments
Velko Vechev, Ronan Hinchet, Stelian Coros +2
Garments with the ability to provide kinesthetic force-feedback on-demand can augment human capabilities in a non-obtrusive way, enabling numerous applications in VR haptics, motio…