5 papers
Learning to Nudge: A Scalable Barrier Function Framework for Safe Robot Interaction in Dense Clutter
Haixin Jin, Nikhil Uday Shinde, Soofiyan Atar +5
Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional…
Towards Autonomous Tape Handling for Robotic Wound Redressing
Xiao Liang, Lu Shen, Peihan Zhang +3
Chronic wounds, such as diabetic, pressure, and venous ulcers, affect over 6.5 million patients in the United States alone and generate an annual cost exceeding $25 billion. Despi…
agriFrame: Agricultural framework to remotely control a rover inside a greenhouse environment
Saail Narvekar, Soofiyan Atar, Vishal Gupta +2
The growing demand for innovation in agriculture is essential for food security worldwide and more implicit in developing countries. With growing demand comes a reduction in rapid…
Humanoids in Hospitals: A Technical Study of Humanoid Robot Surrogates for Dexterous Medical Interventions
Soofiyan Atar, Xiao Liang, Calvin Joyce +5
The increasing demand for healthcare workers, driven by aging populations and labor shortages, presents a significant challenge for hospitals. Humanoid robots have the potential to…
OptiGrasp: Optimized Grasp Pose Detection Using RGB Images for Warehouse Picking Robots
Soofiyan Atar, Yi Li, Markus Grotz +3
In warehouse environments, robots require robust picking capabilities to manage a wide variety of objects. Effective deployment demands minimal hardware, strong generalization to n…