4 papers · 1 filter
MagiClaw: A Dual-Use, Vision-Based Soft Gripper for Bridging the Human Demonstration to Robotic Deployment Gap
Tianyu Wu, Xudong Han, Haoran Sun +4
The transfer of manipulation skills from human demonstration to robotic execution is often hindered by a "domain gap" in sensing and morphology. This paper introduces MagiClaw, a v…
On Flange-based 3D Hand-Eye Calibration for Soft Robotic Tactile Welding
Xudong Han, Ning Guo, Yu Jie +3
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. Th…
Proprioceptive Learning with Soft Polyhedral Networks
Xiaobo Liu, Xudong Han, Wei Hong +2
Proprioception is the "sixth sense" that detects limb postures with motor neurons. It requires a natural integration between the musculoskeletal systems and sensory receptors, whic…
Proprioceptive State Estimation for Amphibious Tactile Sensing
Ning Guo, Xudong Han, Shuqiao Zhong +5
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic en…