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Cristian C. Beltran-Hernandez

11 accepted papers

2026

Tactile Memory With Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist

Tatsuya Kamijo, Mai Nishimura, Nodoka Shibasaki, Jeremy Siburian, Cristian C. Beltran-Hernandez, Masashi Hamaya
RA-L 2026

Tactile memory, the ability to store and retrieve touch-based experience, is critical for contact-rich tasks such as key insertion under uncertainty. To replicate this capability, we introduce Tactile Memory with Soft Robot (TaMeSo-bot), a system that integrates a soft wrist with tactile retrieval-b

Cited by 0Source ↗Scholar ↗
2025

SCU-Hand: Soft Conical Universal Robotic Hand for Scooping Granular Media from Containers of Various Sizes

Tomoya Takahashi, Cristian C. Beltran-Hernandez, Yuki Kuroda, Kazutoshi Tanaka, Masashi Hamaya, Yoshitaka Ushiku
ICRA 2025

Automating small-scale experiments in materials science presents challenges due to the heterogeneous nature of experimental setups. This study introduces the SCU-Hand (Soft Conical Universal Robot Hand), a novel end-effector designed to automate the task of scooping powdered samples from various con

Cited by 4Source ↗Scholar ↗
2024

Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System

Tatsuya Kamijo, Cristian C. Beltran-Hernandez, Masashi Hamaya
IROS 2024poster

Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their inability to adapt to contact with the environment, potentially ca…

Cited by 13Source ↗code ↗Scholar ↗
2024

Low-Cost Air Hockey Robot Using a Five-Bar Linkage Mechanism Driven by Position-Control Servomotors

Mirai Shinjo, Cristian C. Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka
IROS 2024poster

In human-robot interaction (HRI) research, ball games pose significant challenges that demand robotic solutions that are both cost-effective and user-friendly for non-experts. Air hockey, characterized by safe, non-direct-contact play and a simplified state-action space, emerges as an ideal platform…

Cited by 0Source ↗Scholar ↗
2024

Robotic Object Insertion with a Soft Wrist through Sim-to-Real Privileged Training

Yuni Fuchioka, Cristian C. Beltran-Hernandez, Hai Nguyen, Masashi Hamaya
IROS 2024poster

This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured environments, we assume that there are uncertainties in object grasp and hole pose and that the soft wrist pose cannot be…

Cited by 1Source ↗Scholar ↗
2024

SliceIt! - A Dual Simulator Framework for Learning Robot Food Slicing

Cristian C. Beltran-Hernandez, Nicolas Erbetti, Masashi Hamaya
ICRA 2024poster

Cooking robots can enhance the home experience by reducing the burden of daily chores. However, these robots must perform their tasks dexterously and safely in shared human environments, especially when handling dangerous tools such as kitchen knives. This study focuses on enabling a robot to autono…

Cited by 6Source ↗code ↗Scholar ↗
2024

Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist

Hai Nguyen, Tadashi Kozuno, Cristian C. Beltran-Hernandez, Masashi Hamaya
ICRA 2024poster

This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequency control signals than a rigid one. Previous studies often use a fully observable formulation, requiring external setups…

Cited by 10Source ↗code ↗Scholar ↗
2024

Vision-Language Interpreter for Robot Task Planning

Keisuke Shirai, Cristian C. Beltran-Hernandez, Masashi Hamaya, Atsushi Hashimoto, Shohei Tanaka, Kento Kawaharazuka +3
ICRA 2024poster

Large language models (LLMs) are accelerating the development of language-guided robot planners. Meanwhile, symbolic planners offer the advantage of interpretability. This paper proposes a new task that bridges these two trends, namely, multimodal planning problem specification. The aim is to genera…

Cited by 62Source ↗code ↗Scholar ↗
2023

Learning Robotic Assembly by Leveraging Physical Softness and Tactile Sensing

Joaquín Royo-Miquel, Masashi Hamaya, Cristian C. Beltran-Hernandez, Kazutoshi Tanaka
IROS 2023poster

This study aims to achieve autonomous robotic assembly under uncertain conditions arising from imprecise goal positioning and variations in the angle of the grasped part. Soft robots are suitable for such uncertain and contact-rich environments and are capable of insertion tasks with imprecise goal…

Cited by 9Source ↗Scholar ↗
2022

Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry

Felix von Drigalski, Kazumi Kasaura, Cristian C. Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka, Takamitsu Matsubara
RA-L 2022

Factory automation robot systems often depend on specially-made jigs that precisely position each part, which increases the system's cost and limits flexibility. We propose a method to determine the 3D pose of an object with high precision and confidence, using only parallel robotic grippers and no

Cited by 9Source ↗Scholar ↗
2021

Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning

Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
ICRA 2021poster

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic teaching, teleoperation, simulation, among other methods, the forc…

Cited by 31Source ↗Scholar ↗