1 citations · 2 across the 4 of their papers we have counts for
6 papers · 1 filter
Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain
Gaurav Singh, Ahsan Nawroj, Aaron M Dollar
Modular Active Cell Robots (MACROs) is a design approach in which a large number of linear actuators and passive compliant joints are assembled to create an active structure with a…
Mechanical Characterization of Compliant Cellular Robots. Part I: Passive Stiffness
Gaurav Singh, Ahsan Nawroj, Aaron M Dollar
Modular Active Cell Robots (MACROs) are a design paradigm for modular robotic hardware that uses only two components, namely actuators and passive compliant joints. Under the MACRO…
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning
Andrew S. Morgan, Kaiyu Hang, Bowen Wen +2
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is…
Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning
Andrew S. Morgan, Daljeet Nandha, Georgia Chalvatzaki +3
Substantial advancements to model-based reinforcement learning algorithms have been impeded by the model-bias induced by the collected data, which generally hurts performance. Mean…
Dimensionality Reduction and Motion Clustering during Activities of Daily Living: 3, 4, and 7 Degree-of-Freedom Arm Movements
Yuri Gloumakov, Adam J. Spiers, Aaron M. Dollar
The wide variety of motions performed by the human arm during daily tasks makes it desirable to find representative subsets to reduce the dimensionality of these movements for a va…
A Compliant, Underactuated Hand for Robust Manipulation
Lael U. Odhner, Leif P. Jentoft, Mark R. Claffee +7
This paper introduces the i-HY Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand manipulation tasks. This hand wa…