2 citations · 2 across the 11 of their papers we have counts for
12 papers
Post-Grasp Kinematic Repair for Robotic Insertion via Object-in-Gripper Reorientation
Haegu Lee, Christoffer Sloth
A stable grasp does not guarantee kinematically feasible robotic insertion because the object-in-gripper transform may force the robot towards singularities or joint limits along t…
Safety-Critical Control for Smoothed Implicit Contact Dynamics
Haegu Lee, Yitaek Kim, Christoffer Sloth
Smoothed implicit contact dynamics enables gradient-based planning and control for contact-rich tasks without predefined mode sequences. However, safety-critical control remains ch…
Manipulation via Force Distribution at Contact
Haegu Lee, Yitaek Kim, Casper Hewson Rask +1
Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on…
Tac2Motion: Contact-Aware Reinforcement Learning with Tactile Feedback for Robotic Hand Manipulation
Yitaek Kim, Casper Hewson Rask, Christoffer Sloth
This paper proposes Tac2Motion, a contact-aware reinforcement learning framework to facilitate the learning of contact-rich in-hand manipulation tasks, such as removing a lid. To t…
Solving Robotics Tasks with Prior Demonstration via Exploration-Efficient Deep Reinforcement Learning
Chengyandan Shen, Christoffer Sloth
This paper proposes an exploration-efficient Deep Reinforcement Learning with Reference policy (DRLR) framework for learning robotics tasks that incorporates demonstrations. The DR…
Towards Data-Driven Model-Free Safety-Critical Control
Zhe Shen, Yitaek Kim, Christoffer Sloth
This paper presents a framework for enabling safe velocity control of general robotic systems using data-driven model-free Control Barrier Functions (CBFs). Model-free CBFs rely on…
Robust Adaptive Time-Varying Control Barrier Function with Application to Robotic Surface Treatment
Yitaek Kim, Christoffer Sloth
Set invariance techniques such as control barrier functions (CBFs) can be used to enforce time-varying constraints such as keeping a safe distance from dynamic objects. However, ex…
Imitation Learning-Based Path Generation for the Complex Assembly of Deformable Objects
Yitaek Kim, Christoffer Sloth
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manip…
Trajectory Optimization for In-Hand Manipulation with Tactile Force Control
Haegu Lee, Yitaek Kim, Victor Melbye Staven +1
The strength of the human hand lies in its ability to manipulate small objects precisely and robustly. In contrast, simple robotic grippers have low dexterity and fail to handle sm…
Safety-Ensured Robotic Control Framework for Cutting Task Automation in Endoscopic Submucosal Dissection
Yitaek Kim, Iñigo Iturrate, Christoffer Sloth +1
There is growing interest in automating surgical tasks using robotic systems, such as endoscopy for treating gastrointestinal (GI) cancer. However, previous studies have primarily…
Minimizing Conservatism in Safety-Critical Control for Input-Delayed Systems via Adaptive Delay Estimation
Yitaek Kim, Ersin Das, Jeeseop Kim +3
Input delays affect systems such as teleoperation and wirelessly autonomous connected vehicles, and may lead to safety violations. One promising way to ensure safety in the presenc…
Robust Adaptive Safe Robotic Grasping with Tactile Sensing
Yitaek Kim, Jeeseop Kim, Albert H. Li +2
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framewo…