21 citations · 32 across the 12 of their papers we have counts for
12 papers
SLAP: Slapband-based Autonomous Perching Drone with Failure Recovery for Vertical Tree Trunks
Julia Di, Kenneth A. W. Hoffmann, Tony G. Chen +2
Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts…
Multimodal Sensing for Robot-Assisted Sub-Tissue Feature Detection in Physiotherapy Palpation
Tian-Ao Ren, Jorge Garcia, Seongheon Hong +6
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact mu…
CoinFT: A Coin-Sized, Capacitive 6-Axis Force Torque Sensor for Robotic Applications
Hojung Choi, Jun En Low, Tae Myung Huh +7
We introduce CoinFT, a capacitive 6-axis force/torque (F/T) sensor that is compact, light, low-cost, and robust with an average root-mean-squared error of 0.16 N for force and 1.08…
Locomotion as Manipulation with ReachBot
Tony G. Chen, Stephanie Newdick, Julia Di +5
Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To sup…
Martian Exploration of Lava Tubes (MELT) with ReachBot: Scientific Investigation and Concept of Operations
Julia Di, Sara Cuevas-Quinones, Stephanie Newdick +4
As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigm…
ReachBot Field Tests in a Mojave Desert Lava Tube as a Martian Analog
Tony G. Chen, Julia Di, Stephanie Newdick +3
ReachBot is a robot concept for the planetary exploration of caves and lava tubes, which are often inaccessible with traditional robot locomotion methods. It uses extendable booms…
Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors
Julia Di, Zdravko Dugonjic, Will Fu +11
Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniatu…
Detecting Grasping Sites in a Martian Lava Tube: Multi-Stage Perception Trade Study for ReachBot
Julia Di
This paper presents a trade study analysis to design and evaluate the perception system architecture for ReachBot. ReachBot is a novel robotic concept that uses grippers at the end…
Unsupervised Change Detection for Space Habitats Using 3D Point Clouds
Jamie Santos, Holly Dinkel, Julia Di +5
This work presents an algorithm for scene change detection from point clouds to enable autonomous robotic caretaking in future space habitats. Autonomous robotic systems will help…
Multi-Agent 3D Map Reconstruction and Change Detection in Microgravity with Free-Flying Robots
Holly Dinkel, Julia Di, Jamie Santos +6
Assistive free-flyer robots autonomously caring for future crewed outposts -- such as NASA's Astrobee robots on the International Space Station (ISS) -- must be able to detect day-…
Projected Task-Specific Layers for Multi-Task Reinforcement Learning
Josselin Somerville Roberts, Julia Di
Multi-task reinforcement learning could enable robots to scale across a wide variety of manipulation tasks in homes and workplaces. However, generalizing from one task to another a…
A Skeleton-based Approach For Rock Crack Detection Towards A Climbing Robot Application
Josselin Somerville Roberts, Paul-Emile Giacomelli, Yoni Gozlan +1
Conventional wheeled robots are unable to traverse scientifically interesting, but dangerous, cave environments. Multi-limbed climbing robot designs, such as ReachBot, are able to…