8 accepted papers
Robotic manipulation commonly involves pick-and-place tasks in which regrasp may be necessary for low-dexterity manipulators. Many existing approaches rely on sampling, which becomes inefficient when repeated regrasp is required in high-dimensional configuration spaces. We propose a modular planning…
Safe, precise teleoperation demands a third-person 3D view that reveals collision clearances and task-critical geometry in full detail. Yet most systems still rely on live camera streams that offer tunnel-vision perspectives and weak depth cues, hiding hazards and denying operators the spatial conte…
Safe, precise teleoperation demands a third-person 3D view that reveals collision clearances and task-critical geometry in full detail. Yet most systems still rely on live camera streams that offer tunnel-vision perspectives and weak depth cues, hiding hazards and denying operators the spatial conte
We propose a novel inverse kinematics (IK) solver based on an optimization–simulation duality, in which the conventional optimization-based IK problem is reformulated as a forward dynamics simulation of a virtual mechanical system. The IK solution emerges as the equilibrium of this system, correspon
In this paper, we present a novel trajectory planning method for externally-actuated modular manipulators (EAMMs), consisting of multiple rotor-actuated links with joints that can be either locked or unlocked. This joint-locking feature allows effective balancing of the payload capacity and dexterit…
This paper proposes an external wrench estimation method for modular manipulators, where each link module is driven with external actuation (e.g., rotors, thrusters) and inter-module joints can be locked to increase end-effector stiffness or workforce of the manipulator. For such systems, the common…
We propose a novel model-free optimal estimation and sensor placement framework for a high-DOF (degree-of-freedom) EKC (elastic kinematic chain) with only a limited number of IMU (inertial measurement unit) sensors based on POD (proper orthogonal decomposition) and MAP (maximum a posteriori) estimat…
Electrical motor and hydraulic actuation widely-used in robotics are “internal actuation” with their actuators sitting at the joint between two links. This internal actuation is fundamentally limiting to construct a large-size dexterously-articulated robot, since any external force (and its own link…