2 papers
cs.RO2026
Compliant In-hand Rolling Manipulation Using Tactile Sensing
Huan Weng, Yifei Chen, Kevin M. Lynch
We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wr…
math.OC2017
Decentralized and Recursive Identification for Cooperative Manipulation of Unknown Rigid Body with Local Measurements
Taosha Fan, Huan Weng, Todd Murphey
This paper proposes a fully decentralized and recursive approach to online identification of unknown kinematic and dynamic parameters for cooperative manipulation of a rigid body b…