3 papers
cs.RO2026
Exp-Force: Experience-Conditioned Pre-Grasp Force Selection with Vision-Language Models
Siqi Shang, Minchao Huang, Bill Fan +1
Accurate pre-contact grasp force selection is critical for safe and reliable robotic manipulation. Adaptive controllers regulate force after contact but still require a reasonable…
cs.RO2024
A Fast and Model Based Approach for Evaluating Task-Competence of Antagonistic Continuum Arms
Bill Fan, Jacob Roulier, Gina Olson
Soft robot arms have made significant progress towards completing human-scale tasks, but designing arms for tasks with specific load and workspace requirements remains difficult. A…
cs.RO2023
Linear Kinematics for General Constant Curvature and Torsion Manipulators
Bill Fan, Farhan Rozaidi, Capprin Bass +3
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, w…