5 papers
Data-Driven Optimization of Tactile Sensor Configurations for Efficient Dexterous Manipulation
Haoran Guo, Haoyang Wang, Zhengxiong Li +2
Tactile sensing is critical for learning-based dexterous manipulation, yet principled guidelines for sensor placement remain largely absent. While dense sensor arrays provide rich…
Bio-Skin: A Cost-Effective Thermostatic Tactile Sensor with Multi-Modal Force and Temperature Detection
Haoran Guo, Haoyang Wang, Zhengxiong Li +1
Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing c…
Adaptive Anomaly Recovery for Telemanipulation: A Diffusion Model Approach to Vision-Based Tracking
Haoyang Wang, Haoran Guo, Lingfeng Tao +1
Dexterous telemanipulation critically relies on the continuous and stable tracking of the human operator's commands to ensure robust operation. Vison-based tracking methods are wid…
Bi-directional Momentum-based Haptic Feedback and Control System for In-Hand Dexterous Telemanipulation
Haoyang Wang, Haoran Guo, He Ba +2
In-hand dexterous telemanipulation requires not only precise remote motion control of the robot but also effective haptic feedback to the human operator to ensure stable and intuit…
Real-time Dexterous Telemanipulation with an End-Effect-Oriented Learning-based Approach
Haoyang Wang, He Bai, Xiaoli Zhang +3
Dexterous telemanipulation is crucial in advancing human-robot systems, especially in tasks requiring precise and safe manipulation. However, it faces significant challenges due to…