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cs.RO2026
Water Surface Swimming in a Centipede and its Robophysical Model
Zhaochen J. Xu, Delfin Aydin, Abdullah Mustafa +4
Elongate multi-legged robots use coordinated body waves and distributed legs to move through cluttered terrestrial environments. However, as housing actuators for independent leg c…
cs.RO2026
Non-Prehensile Throwing: A Reinforcement Learning Perspective
Abdullah Mustafa, Ryo Hanai, Ixchel G. Ramirez-Alpizar +4
Robotic throwing enables fast object transport and extends a robot's reachable workspace beyond traditional pick-and-place. While prehensile (grasp-based) throwing works well for g…
cs.RO2026
Learning to Predict Contact Force Distributions from Vision Leveraging Object Geometry Priors
Ryo Hanai, Yukiyasu Domaea, Ixchel G. Ramirez-Alpizar +3
Based on vision and prior experience, humans can make rough physical predictions and adjust their manipulation strategies. This paper aims to endow robots with a similar ability. T…