1 citations · 1 across the 7 of their papers we have counts for
5 papers · 1 filter
Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations
Hyojae Park, Arjun S. Lakshmipathy, Nancy S. Pollard
We present a straightforward but effective method for repurposing existing contact-rich dexterous manipulation demonstrations. Starting from inputs of hand and object trajectories,…
Relative Contact Velocity-Controlled Hand-Object Mechanism for Dexterous Tool Manipulation
Sunyu Wang, Jean Oh, Nancy S. Pollard
This work investigates how to enable general multi-finger robotic hands to perform the complete tool manipulation process, which entails picking up a tool, loading it into a suitab…
High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing
Arjun S. Lakshmipathy, Jonathan P. King, Ethan Zuo +6
Despite the demand for robots in high-value clinical tasks like bathing, contemporary systems still lack the safety and reliability required for complex, sustained physical interac…
Vision-guided Autonomous Dual-arm Extraction Robot for Bell Pepper Harvesting
Kshitij Madhav Bhat, Tom Gao, Abhishek Mathur +4
Agricultural robotics has emerged as a critical solution to the labor shortages and rising costs associated with manual crop harvesting. Bell pepper harvesting, in particular, is a…
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
Yiting Chen, Kenneth Kimble, Edward H. Adelson +20
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capab…