5 papers
AthenaZero: A low-inertia, bimanual robot for dynamic manipulation
Andrew S. Morgan, Gregory Xie, Capprin Bass +23
AthenaZero is a bimanual manipulator designed to minimize inertia without compromising control authority. By utilizing quasi-direct drive actuation and transmission remotization te…
Grasp EveryThing (GET): 1-DoF, 3-Fingered Gripper with Tactile Sensing for Robust Grasping
Michael Burgess, Edward H. Adelson
We introduce the Grasp EveryThing (GET) gripper, a novel 1-DoF, 3-finger design for securely grasping objects of many shapes and sizes. Mounted on a standard parallel jaw actuator,…
Learning Object Compliance via Young's Modulus from Single Grasps using Camera-Based Tactile Sensors
Michael Burgess, Jialiang Zhao, Laurence Willemet
Compliance is a useful parametrization of tactile information that humans often utilize in manipulation tasks. It can be used to inform low-level contact-rich actions or characteri…
Robotic Arm Manipulation to Perform Rock Skipping in Simulation
Nicholas Ramirez, Michael Burgess
Rock skipping is a highly dynamic and relatively complex task that can easily be performed by humans. This project aims to bring rock skipping into a robotic setting, utilizing the…
Hybrid Trajectory Optimization of Simple Skateboarding Tricks through Contact
Michael Burgess
Trajectories are optimized for a two-dimensional simplified skateboarding system to allow it to perform a fundamental skateboarding trick called an "ollie". A methodology for gener…