10 papers
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning
Shilin Shan, Chuhao Zhou, Ruize Wang +30
Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical…
HandCept: A Visual-Inertial Fusion Framework for Accurate Proprioception in Dexterous Hands
Huang Junda, Honghao Guo, Hao Wu +3
As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limit…
Hamilton--Jacobi Reachability for Spacecraft Collision Avoidance
Larry Hui, Jordan Kam, William Su +1
This article presents a Hamilton--Jacobi (HJ) reachability framework for a two--satellite collision avoidance problem operating in the same circular orbit, where relative motion is…
A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
William Su, Jordan Kam, Yixiao Wang +1
Astrobee's existing one-degree-of-freedom (DOF) underactuated compliant claw gripper enables perching on the International Space Station (ISS), but provides limited capability for…
Everything-Grasping (EG) Gripper: A Universal Gripper with Synergistic Suction-Grasping Capabilities for Cross-Scale and Cross-State Manipulation
Jianshu Zhou, Jing Shu, Tianle Pan +7
Grasping objects across vastly different sizes and physical states-including both solids and liquids-with a single robotic gripper remains a fundamental challenge in soft robotics.…
Programmable Locking Cells (PLC) for Modular Robots with High Stiffness Tunability and Morphological Adaptability
Jianshu Zhou, Wei Chen, Junda Huang +3
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-for…