5 papers · 1 filter
Vision-Based Online Key Point Estimation of Deformable Robots
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan +2
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reco…
Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five
Simon Fritsch, Liam Achenbach, Riccardo Bianco +9
This paper presents the SABD hand, a 16-degree-of-freedom (DoF) robotic hand that departs from purely anthropomorphic designs to achieve an expanded grasp envelope, enable manipula…
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning
Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis +8
General-purpose robots should possess human-like dexterity and agility to perform tasks with the same versatility as us. A human-like form factor further enables the use of vast da…
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications
Carolina Silva-Plata, Carlos Rosel, Barnabas Gavin Cangan +6
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an onl…
Autonomous Marker-less Rapid Aerial Grasping
Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where u…