research
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03/09/2023
Towards Generalized Robot Assembly through Compliance-Enabled Contact Formations
Contact can be conceptualized as a set of constraints imposed on two bod...
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01/20/2022
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning
Constraining contacts to remain fixed on an object during manipulation l...
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06/26/2021
Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks
Highly constrained manipulation tasks continue to be challenging for aut...
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03/25/2021