26 citations · 27 across the 6 of their papers we have counts for
7 papers
MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
Alexander Schperberg, Yusuke Tanaka, Stefano Di Cairano +1
This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers fo…
SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains
Yusuke Tanaka, Yuki Shirai, Alexander Schperberg +2
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. While existing…
REMS: Middleware for Robotics Education and Development
Yusuke Tanaka, Ankur Mehta
This paper introduces REMS, a robotics middleware and control framework that is designed to introduce the Zen of Python to robotics and to improve robotics education and developmen…
SCALER: A Tough Versatile Quadruped Free-Climber Robot
Yusuke Tanaka, Yuki Shirai, Xuan Lin +5
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-de…
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
Yuki Shirai, Xuan Lin, Alexander Schperberg +4
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present…
Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter
Alexander Schperberg, Yuki Shirai, Xuan Lin +2
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance…
An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights
Yusuke Tanaka, Yuki Shirai, Zachary Lacey +3
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can a…