3 citations · 4 across the 10 of their papers we have counts for
11 papers · 1 filter
Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control
Alexander Schperberg, Yeping Wang, Stefano Di Cairano
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm…
Stiffness Copilot: An Impedance Policy for Contact-Rich Teleoperation
Yeping Wang, Zhengtong Xu, Pornthep Preechayasomboon +4
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff t…
Contact-Grounded Policy: Dexterous Visuotactile Policy with Generative Contact Grounding
Zhengtong Xu, Yeping Wang, Ben Abbatematteo +4
Contact-rich dexterous manipulation with multi-finger hands remains an open challenge in robotics because task success depends on multi-point contacts that continuously evolve and…
Hierarchically Accelerated Coverage Path Planning for Redundant Manipulators
Yeping Wang, Michael Gleicher
Many robotic applications, such as sanding, polishing, wiping and sensor scanning, require a manipulator to dexterously cover a surface using its end-effector. In this paper, we pr…
Anytime Planning for End-Effector Trajectory Tracking
Yeping Wang, Michael Gleicher
End-effector trajectory tracking algorithms find joint motions that drive robot manipulators to track reference trajectories. In practical scenarios, anytime algorithms are preferr…
Motion Comparator: Visual Comparison of Robot Motions
Yeping Wang, Alexander Peseckis, Zelong Jiang +1
Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing visualization tools are designe…
A Design Space of Control Coordinate Systems in Telemanipulation
Yeping Wang, Pragathi Praveena, Michael Gleicher
Teleoperation systems map operator commands from an input device into some coordinate frame in the remote environment. This frame, which we call a control coordinate system, should…
IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations
Yeping Wang, Carter Sifferman, Michael Gleicher
Many applications require a robot to accurately track reference end-effector trajectories. Certain trajectories may not be tracked as single, continuous paths due to the robot's ki…
Unlocking the Performance of Proximity Sensors by Utilizing Transient Histograms
Carter Sifferman, Yeping Wang, Mohit Gupta +1
We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient hi…
Exploiting Task Tolerances in Mimicry-based Telemanipulation
Yeping Wang, Carter Sifferman, Michael Gleicher
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a…
RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks
Yeping Wang, Pragathi Praveena, Daniel Rakita +1
Generating feasible robot motions in real-time requires achieving multiple tasks (i.e., kinematic requirements) simultaneously. These tasks can have a specific goal, a range of equ…