22 papers
Design Paradigms Based on Spring Agonists for Underactuated Robot Hands: Concepts and Application
Tianjian Chen, Tianyi Zhang, Matei Ciocarlie
In this paper, we focus on a rarely used paradigm in the design of underactuated robot hands: the use of springs as agonists and tendons as antagonists. We formalize this approach…
Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning
Tianjian Chen, Zhanpeng He, Matei Ciocarlie
Deep Reinforcement Learning (RL) has shown great success in learning complex control policies for a variety of applications in robotics. However, in most such cases, the hardware o…
A Sensorized Multicurved Robot Finger with Data-driven Touch Sensing via Overlapping Light Signals
Pedro Piacenza, Keith Behrman, Benedikt Schifferer +2
Despite significant advances in touch and force transduction, tactile sensing is still far from ubiquitous in robotic manipulation. Existing methods for building touch sensors have…
A Continuous Teleoperation Subspace with Empirical and Algorithmic Mapping Algorithms for Non-Anthropomorphic Hands
Cassie Meeker, Maximilian Haas-Heger, Matei Ciocarlie
Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a non-anthropomorphic…
User-Driven Functional Movement Training with a Wearable Hand Robot after Stroke
Sangwoo Park, Michaela Fraser, Lynne M. Weber +5
We studied the performance of a robotic orthosis designed to assist the paretic hand after stroke. It is wearable and fully user-controlled, serving two possible roles: as a therap…
Automatic Snake Gait Generation Using Model Predictive Control
Emily Hannigan, Bing Song, Gagan Khandate +3
In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Mod…