1 citations · 2 across the 2 of their papers we have counts for
9 papers
Optimized Coverage Planning for UV Surface Disinfection
Joao Marcos Correia Marques, Ramya Ramalingam, Zherong Pan +1
UV radiation has been used as a disinfection strategy to deactivate a wide range of pathogens, but existing irradiation strategies do not ensure sufficient exposure of all environm…
Implicit Integration for Articulated Bodies with Contact via the Nonconvex Maximal Dissipation Principle
Zherong Pan, Kris Hauser
We present non-convex maximal dissipation principle (NMDP), a time integration scheme for articulated bodies with simultaneous contacts. Our scheme resolves contact forces via the…
Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting
Zherong Pan, Kris Hauser
We present a planner for large-scale (un)labeled object sorting tasks, which uses two types of manipulation actions: overhead grasping and planar pushing. The grasping action offer…
Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning
Yuan Tian, Mark Draelos, Gao Tang +4
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-mi…
Stable bin packing of non-convex 3D objects with a robot manipulator
Fan Wang, Kris Hauser
Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing proble…
Unified Multi-Contact Fall Mitigation Planning for Humanoids via Contact Transition Tree Optimization
Shihao Wang, Kris Hauser
This paper presents a multi-contact approach to generalized humanoid fall mitigation planning that unifies inertial shaping, protective stepping, and hand contact strategies. The p…