1 citations · 3 across the 12 of their papers we have counts for
14 papers
Frequency-Modulated Piezoelectric Haptic Display
Boyuan Liang, Lingfeng Sun, Masayoshi Tomizuka
We present a frequency-modulated (FM) haptic display based on piezoelectric vibrating actuators. Existing haptic displays commonly encode haptic intensity through the deformation a…
A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation
William Su, Yunosuke Nakamura, Yixiao Wang +6
In-hand assembly is constrained by the need to maintain grasps on two separate parts while controlling their relative motion within a single hand. To enable both in-hand assembly a…
From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention
Sichang Su, Benjamin Yang, Zhiyun Deng +4
A pretrained robot foundation policy may execute most of a long-horizon task yet repeatedly fail at a few critical subtasks. Collecting additional full-task demonstrations for supe…
Diagnosing Compositional Generalization in Sequential Robot Tasks
Yixiao Wang, Cheng-En Wu, Lingfeng Sun +5
Sequential robot manipulation requires policies to execute novel combinations of familiar instruction components. However, collecting demonstrations for all possible instruction tu…
Programmable Locking Cells (PLC) for Modular Robots with High Stiffness Tunability and Morphological Adaptability
Jianshu Zhou, Wei Chen, Junda Huang +3
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-for…
Few-shot Sim2Real Based on High Fidelity Rendering with Force Feedback Teleoperation
Yanwen Zou, Junda Huang, Boyuan Liang +5
Teleoperation offers a promising approach to robotic data collection and human-robot interaction. However, existing teleoperation methods for data collection are still limited by e…
Unified Manipulability and Compliance Analysis of Modular Soft-Rigid Hybrid Fingers
Jianshu Zhou, Boyuan Liang, Junda Huang +1
This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneuma…
Fish Mouth Inspired Origami Gripper for Robust Multi-Type Underwater Grasping
Honghao Guo, Junda Huang, Ian Zhang +4
Robotic grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water condit…
Prismatic-Bending Transformable (PBT) Joint for a Modular, Foldable Manipulator with Enhanced Reachability and Dexterity
Jianshu Zhou, Junda Huang, Boyuan Liang +3
Robotic manipulators, traditionally designed with classical joint-link articulated structures, excel in industrial applications but face challenges in human-centered and general-pu…
Physics-Aware Robotic Palletization with Online Masking Inference
Tianqi Zhang, Zheng Wu, Yuxin Chen +6
The efficient planning of stacking boxes, especially in the online setting where the sequence of item arrivals is unpredictable, remains a critical challenge in modern warehouse an…
Global-Local Interface for On-Demand Teleoperation
Jianshu Zhou, Boyuan Liang, Junda Huang +2
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing te…
Robust In-Hand Manipulation with Extrinsic Contacts
Boyuan Liang, Kei Ota, Masayoshi Tomizuka +1
We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously.…
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion
Boyuan Liang, Lingfeng Sun, Xinghao Zhu +6
In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. Pre-defined gait patterns and complex reward systems are widely used to stab…
In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing
Mingrui Yu, Boyuan Liang, Xiang Zhang +6
Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill th…