4 accepted papers
Behavioral cloning from human demonstrations has succeeded in programming a robot to generate fine-grained motion, but it is still challenging to learn multimodal trajectories such as with various speeds. This restricts the use of a robot dataset collected by multiusers because the different profici…
This paper proposes a novel approach to address the technical challenges of stable object grasping, particularly in the context of handling tableware in a home environment. Handling tableware is particularly important, yet challenging, due to the flat nature of most tableware objects and the need to…
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…