3 papers
cs.RO2026
Estimating Force Interactions of Deformable Linear Objects from their Shapes
Qi Jing Chen, Shilin Shan, Timothy Bretl +1
This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-…
cs.RO2025
Robotic Manipulation of a Rotating Chain with Bottom End Fixed
Qi Jing Chen, Shilin Shan, Quang-Cuong Pham
This paper studies the problem of using a robot arm to manipulate a uniformly rotating chain with its bottom end fixed. Existing studies have investigated ideal rotational shapes f…
cs.RO2024
Fast Payload Calibration for Sensorless Contact Estimation Using Model Pre-training
Shilin Shan, Quang-Cuong Pham
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection…