Lessons from Learning to Spin" Pens"
In-hand manipulation of pen-like objects is an important skill in our daily lives, as many tools
such as hammers and screwdrivers are similarly shaped. However, current learning-based …
such as hammers and screwdrivers are similarly shaped. However, current learning-based …
POE: Acoustic Soft Robotic Proprioception for Omnidirectional End-effectors
U Yoo, Z Lopez, J Ichnowski, J Oh - arXiv preprint arXiv:2401.09382, 2024 - arxiv.org
Soft robotic shape estimation and proprioception are challenging because of soft robot's
complex deformation behaviors and infinite degrees of freedom. A soft robot's continuously …
complex deformation behaviors and infinite degrees of freedom. A soft robot's continuously …
From Simple to Complex Skills: The Case of In-Hand Object Reorientation
Learning policies in simulation and transferring them to the real world has become a
promising approach in dexterous manipulation. However, bridging the sim-to-real gap for …
promising approach in dexterous manipulation. However, bridging the sim-to-real gap for …
Multidirectional Bending Soft Pneumatic Actuator with Fishbone-like Strain-Limiting Layer for Dexterous Manipulation
X Yang, N Zhang, X Huang, R Bian… - IEEE Robotics and …, 2024 - ieeexplore.ieee.org
Soft pneumatic actuators (SPAs), due to their compliance and adaptiveness, are promising
solutions for manipulation. However, most SPAs have only simple motion modes and cannot …
solutions for manipulation. However, most SPAs have only simple motion modes and cannot …
Direct Self-Identification of Inverse Jacobians for Dexterous Manipulation Through Particle Filtering
JT Grace, P Chanrungmaneekul… - … on Robotics and …, 2024 - ieeexplore.ieee.org
The ability to plan and control robotic in-hand manipulation is challenged by several issues,
including the required amount of prior knowledge of the system and the sophisticated …
including the required amount of prior knowledge of the system and the sophisticated …
Soft Robotic Dynamic In-Hand Pen Spinning
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have
demonstrated advantages in safe compliant interactions but struggle with high-speed …
demonstrated advantages in safe compliant interactions but struggle with high-speed …