5 papers
Constraint-Decomposed Impedance Control from Generative Policy for Articulated Object Manipulation
Kyungseo Park, Byeongdo Lim, Jungbin Lim +2
Articulated object manipulation tasks such as opening doors, tightening bolts, and pulling drawers impose kinematic constraints on a robot end-effector's motion that neural policie…
EIT-Pneumatic Hybrid Robotic Skin for Practical and Accurate Force Map Reconstruction
Junhwi Cho, Sunggyu Bae, Junghyeon Ma +3
We present a hybrid robotic skin that combines electrical impedance tomography (EIT) with pneumatic tactile sensing to improve force reconstruction capability. The developed roboti…
Tactile-Proprioceptive Sensor Fusion for Contact Wrench Estimation in Whole-Body Physical Human-Robot Interaction
Junha Min, Junghyeon Ma, Jiwung Kwon +3
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localizatio…
Magnet-Based Soft Robotic Skin Using a 3D-Printed Multi-Lattice Structure and CNN-Based Tactile Super-Resolution
Yunseong Bang, Joowon Park, Suan Sim +3
This paper presents a magnet-based robotic skin that integrates a multilayer soft lattice with distributed Hall-effect sensor arrays and a tactile super-resolution model. External…
PAPRLE (Plug-And-Play Robotic Limb Environment): A Modular Ecosystem for Robotic Limbs
Obin Kwon, Sankalp Yamsani, Noboru Myers +5
We introduce PAPRLE (Plug-And-Play Robotic Limb Environment), a modular ecosystem that enables flexible placement and control of robotic limbs. With PAPRLE, a user can change the a…