48 citations · 426 across the 46 of their papers we have counts for
14 papers · 1 filter
Modular meta-learning in abstract graph networks for combinatorial generalization
Ferran Alet, Maria Bauza, Alberto Rodriguez +2
Modular meta-learning is a new framework that generalizes to unseen datasets by combining a small set of neural modules in different ways. In this work we propose abstract graph ne…
Maintaining Grasps within Slipping Bound by Monitoring Incipient Slip
Siyuan Dong, Daolin Ma, Elliott Donlon +1
In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures…
Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM
Daolin Ma, Elliott Donlon, Siyuan Dong +1
In this paper, we present a new version of tactile sensor GelSlim 2.0 with the capability to estimate the contact force distribution in real time. The sensor is vision-based and us…
In-Hand Manipulation via Motion Cones
Nikhil Chavan-Dafle, Rachel Holladay, Alberto Rodriguez
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previousl…
Regrasping by Fixtureless Fixturing
Nikhil Chavan-Dafle, Alberto Rodriguez
This paper presents a fixturing strategy for regrasping that does not require a physical fixture. To regrasp an object in a gripper, a robot pushes the object against external cont…
Pneumatic Shape-shifting Fingers to Reorient and Grasp
Nikhil Chavan-Dafle, Kyubin Lee, Alberto Rodriguez
We present pneumatic shape-shifting fingers to enable a simple parallel-jaw gripper for different manipulation modalities. By changing the finger geometry, the gripper effectively…