Yi-Shian Tsai — accepted AI-conference papers

2025

A Compact Robotic Wrist with Embedded Torque Sensing for Peg-in-Hole Tasks

Yi-Shian Tsai, Yi-Hung Chen, Chao-Chieh Lan

IROS 2025

This paper presents the design and experimental validation of a torque-controlled robotic wrist for peg-in-hole tasks. The proposed wrist features a serial pitch-yaw joint configuration that enhances dexterity while maintaining compactness. The design integrates stepper motors, harmonic geartrains,

Cited by 1 Source ↗Scholar ↗

2024

A Force-Controlled Gripper Capable of Measuring Mechanical Properties of an Object

Yi-Shian Tsai, Pin-Chun Yeh, Chun-Hung Huang, I-Cheng Hsueh, Chao-Chieh Lan

ICRA 2024poster

Various sensorized grippers have been developed to handle delicate objects safely. These grippers have sensors mounted on their fingers’ surface that provide direct force measurements. However, multiple sensors are often required on one finger, leading to significant sensor placement and wire routin…

Cited by 0 Source ↗Scholar ↗