5 citations · 8 across the 10 of their papers we have counts for
10 papers
Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations
Nataliya Nechyporenko, Ava Abderezaei, Alessandro Roncone
Contact planning in robotics requires models that are both computationally efficient and physically accurate. Sphere-based robot representations satisfy the first requirement by en…
Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
Ava Abderezaei, Nataliya Nechyporenko, Joseph Miceli +2
Robotics demands simulation that can reason about the diversity of real-world physical interactions, from rigid to deformable objects and fluids. Current simulators address this by…
Design, Mapping, and Contact Anticipation with 3D-printed Whole-Body Tactile and Proximity Sensors
Carson Kohlbrenner, Anna Soukhovei, Caleb Escobedo +2
Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates…
A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers
Caleb Escobedo, Nataliya Nechyporenko, Shreyas Kadekodi +1
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, method…
MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation
Nataliya Nechyporenko, Yutong Zhang, Sean Campbell +1
What if a robot could rethink its own morphological representation to better meet the demands of diverse tasks? Most robotic systems today treat their physical form as a fixed cons…
Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
Yaashia Gautam, Gilberto Briscoe-Martinez, Adhitya Mohan +3
This paper introduces the Compliant Explicit Reference Governor (CERG), a modular reference management system that enables robots to interact physically with their environment unde…
ARMADA: Augmented Reality for Robot Manipulation and Robot-Free Data Acquisition
Nataliya Nechyporenko, Ryan Hoque, Christopher Webb +2
Teleoperation for robot imitation learning is bottlenecked by hardware availability. Can high-quality robot data be collected without a physical robot? We present a system for augm…
A Sensor Position Localization Method for Flexible, Non-Uniform Capacitive Tactile Sensor Arrays
Carson Kohlbrenner, Caleb Escobedo, Nataliya Nechyporenko +1
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density o…
EMOTION: Expressive Motion Sequence Generation for Humanoid Robots with In-Context Learning
Peide Huang, Yuhan Hu, Nataliya Nechyporenko +3
This paper introduces a framework, called EMOTION, for generating expressive motion sequences in humanoid robots, enhancing their ability to engage in humanlike non-verbal communic…
CAT-RRT: Motion Planning that Admits Contact One Link at a Time
Nataliya Nechyporenko, Caleb Escobedo, Shreyas Kadekodi +1
Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leave…