5 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…
Hand tracking plays a key role in capturing and transferring dexterous human manipulation skills to robots. However, achieving reliable tracking across diverse conditions and during complex interactions (e.g., object manipulation) remains challenging. A promising solution is to combine wearable sens…
In this paper, we implement the GPU-accelerated subsystem-based Alternating Direction Method of Multipliers (SubADMM) for interactive simulation. The challenging objective for interactive simulations is to deliver realistic results under tight performance, even for large-scale scenarios. We aim to a
Collision detection is a fundamental problem across various fields such as robotics, physical simulation, and computer graphics. While numerous studies have provided efficient solutions, based on the well-known Gilbert, Johnson, and Keerthi (GJK) algorithm and Expanding Polytope Algorithm (EPA), exi…
We propose novel symmetry-based modeling and hybrid orientation-force control frameworks for cutaneous haptic device (CHD) to generate precise three degree-of-freedom (DoF) contact force on the fingertip robustly against user variability. The CHD hardware is designed in a form of an underactuated ca…