2 citations · 2 across the 11 of their papers we have counts for
Showing 2026Show all
3 papers · 1 filter
cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…