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cs.RO2025
Experimental Evaluation of Precise Placement of the Hollow Object with Asymmetric Pivot Manipulation
Jinseong Park, Jeong-Jung Kim, Doo-Yeol Koh
In this paper, we present asymmetric pivot manipulation for picking up rigid hollow objects to achieve a hole grasp. The pivot motion, executed by a position-controlled robotic arm…
cs.RO2023
Object-Aware Impedance Control for Human-Robot Collaborative Task with Online Object Parameter Estimation
Jinseong Park, Yong-Sik Shin, Sanghyun Kim
Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long…