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cs.RO2024
Compact LED-Based Displacement Sensing for Robot Fingers
Amr El-Azizi, Sharfin Islam, Pedro Piacenza +3
In this paper, we introduce a sensor designed for integration in robot fingers, where it can provide information on the displacements induced by external contact. Our sensor uses L…
cs.RO2024
Task-Based Design and Policy Co-Optimization for Tendon-driven Underactuated Kinematic Chains
Sharfin Islam, Zhanpeng He, Matei Ciocarlie
Underactuated manipulators reduce the number of bulky motors, thereby enabling compact and mechanically robust designs. However, fewer actuators than joints means that the manipula…