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pro vyhledávání: '"Yamane, Katsu"'
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general dexterous mani
Externí odkaz:
http://arxiv.org/abs/2209.10040
Autor:
Hoque, Ryan, Seita, Daniel, Balakrishna, Ashwin, Ganapathi, Aditya, Tanwani, Ajay Kumar, Jamali, Nawid, Yamane, Katsu, Iba, Soshi, Goldberg, Ken
Robotic fabric manipulation has applications in home robotics, textiles, senior care and surgery. Existing fabric manipulation techniques, however, are designed for specific tasks, making it difficult to generalize across different but related tasks.
Externí odkaz:
http://arxiv.org/abs/2102.09754
Autor:
Campbell, Joseph, Yamane, Katsu
This paper presents a learning-from-demonstration (LfD) framework for teaching human-robot social interactions that involve whole-body haptic interaction, i.e. direct human-robot contact over the full robot body. The performance of existing LfD frame
Externí odkaz:
http://arxiv.org/abs/2005.12508
Autor:
Ganapathi, Aditya, Sundaresan, Priya, Thananjeyan, Brijen, Balakrishna, Ashwin, Seita, Daniel, Grannen, Jennifer, Hwang, Minho, Hoque, Ryan, Gonzalez, Joseph E., Jamali, Nawid, Yamane, Katsu, Iba, Soshi, Goldberg, Ken
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation tasks, bu
Externí odkaz:
http://arxiv.org/abs/2003.12698
Autor:
Hoque, Ryan, Seita, Daniel, Balakrishna, Ashwin, Ganapathi, Aditya, Tanwani, Ajay Kumar, Jamali, Nawid, Yamane, Katsu, Iba, Soshi, Goldberg, Ken
Robotic fabric manipulation has applications in home robotics, textiles, senior care and surgery. Existing fabric manipulation techniques, however, are designed for specific tasks, making it difficult to generalize across different but related tasks.
Externí odkaz:
http://arxiv.org/abs/2003.09044
Autor:
Seita, Daniel, Ganapathi, Aditya, Hoque, Ryan, Hwang, Minho, Cen, Edward, Tanwani, Ajay Kumar, Balakrishna, Ashwin, Thananjeyan, Brijen, Ichnowski, Jeffrey, Jamali, Nawid, Yamane, Katsu, Iba, Soshi, Canny, John, Goldberg, Ken
Sequential pulling policies to flatten and smooth fabrics have applications from surgery to manufacturing to home tasks such as bed making and folding clothes. Due to the complexity of fabric states and dynamics, we apply deep imitation learning to l
Externí odkaz:
http://arxiv.org/abs/1910.04854
Publikováno v:
In Progress in Biophysics and Molecular Biology 2010 103(2):310-317
Publikováno v:
In Journal of Biomechanics 2008 41(13):2874-2883
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Publikováno v:
In IFAC Proceedings Volumes 2006 39(1):1168-1173