1 citations · 2 across the 7 of their papers we have counts for
7 papers
Omnidirectional Amphibious Locomotion via Internal Mass Actuation
Niko Weaver, Boxi Xia, Li-Yu Lo +2
Field robots must traverse varied terrain and obstacles while remaining robust to water, debris, vegetation, and physical contact. We present MARBLE, a fully enclosed omnidirection…
The Cartesian Hand: In-Hand Manipulation with All-Linear Fingers
Boxi Xia, Bokuan Li, Ryan Shin +3
Robotic manipulation has increasingly pursued human-like dexterous hands with many articulated degrees of freedom, offering rich manipulation capabilities at the cost of mechanical…
Visible-Reachable Workspace for Perception-Aware Humanoid Design
Boxi Xia, Zijiang Yang, Ryan Shin +5
Workspace analysis measures where a robot can place its end effector. For visually guided manipulation, reachability alone is insufficient: a kinematically reachable target may not…
Extreme dynamic symmetry enables omnidirectional and multifunctional robots
Jiaxun Liu, Boxi Xia, Boyuan Chen
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that sy…
CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
Xinyuan Luo, Xingrui Chen, Xunjian Yin +6
Humanoid robots have achieved impressive locomotion performance, yet contact-rich and long-horizon manipulation remains a major bottleneck. Manipulation is inherently contact-rich…
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics
Boxi Xia, Bokuan Li, Jacob Lee +2
We present the Duke Humanoid, an open-source 10-degrees-of-freedom humanoid, as an extensible platform for locomotion research. The design mimics human physiology, with symmetrical…
Text2Robot: Evolutionary Robot Design from Text Descriptions
Ryan P. Ringel, Zachary S. Charlick, Jiaxun Liu +2
Robot design has traditionally been costly and labor-intensive. Despite advancements in automated processes, it remains challenging to navigate a vast design space while producing…