3 papers
cs.RO2026
Two Degree-of-Freedom Vibratory Transport in a Grasp
C. L. Yako, Shenli Yuan, Kenneth Salisbury
In this paper, we use asymmetric vibrations to demonstrate two degree-of-freedom (DoF) in-hand manipulation of grasped parts. The asymmetric vibrations are achieved through closed-…
cs.RO2026
Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based Analysis
C. L. Yako, Shenli Yuan, J. Kenneth Salisbury
This paper introduces an extension to the energy map method for in-hand manipulation. Energy maps are used to predict how a part will evolve in the grasp given a specific actuation…
cs.RO2025
Vertical Vibratory Transport of Grasped Parts Using Impacts
C. L. Yako, Jérôme Nowak, Shenli Yuan +1
In this paper, we use impact-induced acceleration in conjunction with periodic stick-slip to successfully and quickly transport parts vertically against gravity. We show analytical…