13 citations · 13 across the 2 of their papers we have counts for
3 papers
Dual-Arm Whole-Body Motion Planning: Leveraging Overlapping Kinematic Chains
Richard Cheng, Peter Werner, Carolyn Matl
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning…
Practical Insights on Grasp Strategies for Mobile Manipulation in the Wild
Isabella Huang, Richard Cheng, Sangwoon Kim +8
Mobile manipulation robots are continuously advancing, with their grasping capabilities rapidly progressing. However, there are still significant gaps preventing state-of-the-art m…
Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach
Max Bajracharya, James Borders, Richard Cheng +11
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system…