4 papers
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-…
Robotic Dexterous Manipulation via Anisotropic Friction Modulation using Passive Rollers
Ethan Fisk, Taeyoon Lee, Shenli Yuan
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic f…
LEGATO: Cross-Embodiment Imitation Using a Grasping Tool
Mingyo Seo, H. Andy Park, Shenli Yuan +2
Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning…
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…