3 papers
cs.RO2024
Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots
Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pa…
cs.RO2023
Model-Free and Learning-Free Proprioceptive Humanoid Movement Control
Boren Jiang, Ximeng Tao, Yuanfeng Han +2
This paper presents a novel model-free method for humanoid-robot quasi-static movement control. Traditional model-based methods often require precise robot model parameters. Additi…
cs.RO2022
Watch Me Calibrate My Force-Sensing Shoes!
Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move…