328 citations · 1.9k across the 108 of their papers we have counts for
6 papers · 2 filters
SPRK: A Low-Cost Stewart Platform For Motion Study In Surgical Robotics
Vatsal Patel, Sanjay Krishnan, Aimee Goncalves +1
To simulate body organ motion due to breathing, heart beats, or peristaltic movements, we designed a low-cost, miniaturized SPRK (Stewart Platform Research Kit) to translate and ro…
Learning Robust Bed Making using Deep Imitation Learning with DART
Michael Laskey, Chris Powers, Ruta Joshi +2
Bed-making is a universal home task that can be challenging for senior citizens due to reaching motions. Automating bed-making has multiple technical challenges such as perception…
DDCO: Discovery of Deep Continuous Options for Robot Learning from Demonstrations
Sanjay Krishnan, Roy Fox, Ion Stoica +1
An option is a short-term skill consisting of a control policy for a specified region of the state space, and a termination condition recognizing leaving that region. In prior work…
Dex-Net 3.0: Computing Robust Robot Vacuum Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning
Jeffrey Mahler, Matthew Matl, Xinyu Liu +3
Vacuum-based end effectors are widely used in industry and are often preferred over parallel-jaw and multifinger grippers due to their ability to lift objects with a single point o…
Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure
Daniel Seita, Sanjay Krishnan, Roy Fox +3
Automating precision subtasks such as debridement (removing dead or diseased tissue fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit (dVRK) is c…
Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz +5
To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6.7 million point clouds, grasps, and analytic grasp…