9 citations · 27 across the 6 of their papers we have counts for
9 papers
Reacting to Contact: Transparency and Collision Reflex in Actuation
Ankit Bhatia, Matthew T. Mason, Aaron M. Johnson
In unstructured environments, robots run the risk of unexpected collisions. How well they react to these events is determined by how transparent they are to collisions. Transparenc…
An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control
Yifan Hou, Matthew T. Mason
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes…
Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
Xianyi Cheng, Eric Huang, Yifan Hou +1
The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level mo…
Manipulation with Shared Grasping
Yifan Hou, Zhenzhong Jia, Matthew T. Mason
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a…
Reorienting Objects in 3D Space Using Pivoting
Yifan Hou, Zhenzhong Jia, Matthew T. Mason
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-…
Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control
Yifan Hou, Matthew T. Mason
In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain conta…