21 citations · 21 across the 5 of their papers we have counts for
5 papers
Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity Sensing, Force/Torque and Pressure Map Estimation
Gabriel Arslan Waltersson, Yiannis Karayiannidis
This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity and force/torque sensing with pressure map estimation into a…
Friction Estimation for In-Hand Planar Motion
Gabriel Arslan Waltersson, Yiannis Karayiannidis
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as…
Perception, Control and Hardware for In-Hand Slip-Aware Object Manipulation with Parallel Grippers
Gabriel Arslan Waltersson, Yiannis Karayiannidis
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware con…
Offline Goal-Conditioned Reinforcement Learning for Shape Control of Deformable Linear Objects
Rita Laezza, Mohammadreza Shetab-Bushehri, Gabriel Arslan Waltersson +3
Deformable objects present several challenges to the field of robotic manipulation. One of the tasks that best encapsulates the difficulties arising due to non-rigid behavior is sh…
Planar Friction Modelling with LuGre Dynamics and Limit Surfaces
Gabriel Arslan Waltersson, Yiannis Karayiannidis
During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This paper proposes planar friction models grounded in the LuGre model…