6 papers
Kitchen Robotic Manipulation utilizing Foundation Models
Myung-Hwan Jeon, Sankalp Yamsani, Joohyung Kim
Deploying robots in everyday human environments requires perception systems that are both robust and adaptable to diverse, dynamic conditions. In this work, we present a modular pe…
Tactile-Proprioceptive Sensor Fusion for Contact Wrench Estimation in Whole-Body Physical Human-Robot Interaction
Junha Min, Junghyeon Ma, Jiwung Kwon +3
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localizatio…
Motion Design for Grasp-Based Dynamic Locomotion in Microgravity
Chaerim Moon, Joohyung Kim, Justin K. Yim
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is fe…
TRIP-Bag: A Portable Teleoperation System for Plug-and-Play Robotic Arms and Leaders
Noboru Myers, Sankalp Yamsani, Obin Kwon +1
Large scale, diverse demonstration data for manipulation tasks remains a major challenge in learning-based robot policies. Existing in-the-wild data collection approaches often rel…
CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System
Noboru Myers, Obin Kwon, Sankalp Yamsani +1
Recent advances in teleoperation have demonstrated robots performing complex manipulation tasks. However, existing works rarely support whole-body joint-level teleoperation for hum…
PAPRLE (Plug-And-Play Robotic Limb Environment): A Modular Ecosystem for Robotic Limbs
Obin Kwon, Sankalp Yamsani, Noboru Myers +5
We introduce PAPRLE (Plug-And-Play Robotic Limb Environment), a modular ecosystem that enables flexible placement and control of robotic limbs. With PAPRLE, a user can change the a…