4 papers · 1 filter
Spacetime Optimal-Transport Attention for Visuo-Haptic Imitation Learning of Contact-Rich Manipulation
Yue Feng, Weicheng Huang, I-Ming Chen
Contact-rich manipulation tasks such as tight-clearance insertion, connector mating, polishing, and surface-conforming wiping remain difficult for data-driven controllers because t…
Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing
Yue Feng, Weicheng Huang, I-Ming Chen
Existing bilateral teleoperation platforms still rely on costly rigid six-axis force/torque sensors, tightly coupled leader-follower hardware, and kilohertz control loops. We prese…
Delta6: A Low-Cost, 6-DOF Force-Sensing Flexible End-Effector
Yue Feng, Weicheng Huang, Chen Qiu +2
This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench…
ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control
Chetan Borse, Zhixian Xie, Wei-Cheng Huang +1
Physics simulation for contact-rich robotics is often bottlenecked by contact resolution: mainstream engines enforce non-penetration and Coulomb friction via complementarity constr…