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07/28/2023
High-speed electrical connector assembly by structured compliance in a finray-effect gripper
Fine assembly tasks such as electrical connector insertion have tight to...
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03/30/2023
Teaching contact-rich tasks from visual demonstrations by constraint extraction
Contact-rich manipulation involves kinematic constraints on the task mot...
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03/30/2023
Differentiable Environment Primitives for Contact State Estimation
In contact-rich manipulation, the robot dynamics are coupled with an env...
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01/20/2023
Compliant finray-effect gripper for high-speed robotic assembly of electrical components
Fine assembly tasks such as electrical connector insertion have tight to...
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08/15/2022
Model Predictive Impedance Control with Gaussian Processes for Human and Environment Interaction
In tasks where the goal or configuration varies between iterations, huma...
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03/14/2022
Impedance Adaptation by Reinforcement Learning with Contact Dynamic Movement Primitives
Dynamic movement primitives (DMPs) allow complex position trajectories t...
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03/14/2022
Flexure-based Environmental Compliance for High-speed Robotic Contact Tasks
The design of physical compliance – its location, degree, and structure ...
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02/02/2022
Towards High-Payload Admittance Control for Manual Guidance with Environmental Contact
Force control enables hands-on teaching and physical collaboration, with...
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10/24/2021
Contact Information Flow and Design of Compliance
The objective of many contact-rich manipulation tasks can be expressed a...
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10/24/2021
Model Predictive Control with Gaussian Processes for Flexible Multi-Modal Physical Human Robot Interaction
Physical human-robot interaction can improve human ergonomics, task effi...
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03/27/2021
Minimum directed information: A design principle for compliant robots
A robot's dynamics – especially the degree and location of compliance – ...
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11/16/2020
Towards Learning Controllable Representations of Physical Systems
Learned representations of dynamical systems reduce dimensionality, pote...
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12/03/2019
Safe rendering of high impedance on a series-elastic actuator with disturbance observer-based torque control
An important performance metric for series-elastic actuators is the rang...
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01/12/2019
Nonparametric Inverse Dynamic Models for Multimodal Interactive Robots
Direct design of a robot's rendered dynamics, such as in impedance contr...
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10/08/2018