Research
Research
Research
Research
2,417+ open-access research outputs.
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-desi…
We consider a system of two coupled first-order linear hyperbolic partial differential equations modeling heat transport in a counter-flow heat exchanger: one equation describes the transport of a hot…
Dexterous robot hands offer rich opportunities for multifunctional manipulation, where a robot must execute multiple skills in sequence while maintaining control over previously grasped objects. Most …
Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their …
In behavioral cloning (BC), policy performance is fundamentally limited by demonstration data quality. Real-world datasets contain trajectories of varying quality due to operator skill differences, te…
Respiratory airflow signals provide critical insight into breathing mechanics, yet conventional analysis methods remain limited in their ability to characterize the internal structure of individual br…
This paper proposes and analyzes Riemannian optimization algorithms on the manifold of unitary and symmetric matrices, denoted ${\cal {U}}_s$, which naturally models the scattering matrices of passive…
This study investigates the kinematic role of palm degrees of freedom (DoF) in enhancing thumb opposability in a five-finger robotic hand. A hand model consisting of a five DoF thumb and four fingers …
A problem of online estimation of unknown parameters is considered for a linear regression equation, which is affected by an additive perturbation that can be caused by measurement noise (that corrupt…
The current practice of dexterous manipulation generally relies on a single wrist-mounted view, which is often occluded and limits performance on tasks requiring multi-view perception. In this work, w…
In the design stage of robotic hands, it is not straightforward to quantitatively evaluate the effect of phalanx length ratios on dexterity without defining specific objects or manipulation tasks. The…
Image transmission for vehicle-to-vehicle collaborative perception in autonomous driving faces challenges including limited on-board terminal resources, time-varying wireless channel fading, and poor …
We present a soft corrugated tube sensor designed to estimate strain in each half segment. When air flows through the tube, the internal corrugated cavities induce pressure oscillations that excite th…
We develop a wildfire simulation model that evolves the temperature scalar field using an energy balance equation accounting for heat generation, transport, and loss. For these equations, we develop q…
As groups of robots increasingly collaborate with humans, understanding how humans perceive them is critical for designing effective human-robot teams. While prior research examined how humans interpr…
Reduced-order models are powerful for analyzing and controlling high-dimensional dynamical systems. Yet constructing these models for complex hybrid systems such as legged robots remains challenging. …
High-DOF dexterous hands require compact actuation, rich sensing, and reliable thermal behavior, but conventional designs often occupy valuable in-hand space, increase end-effector mass, and suffer fr…
Porous electrode theory (PET) provides essential insights into electrochemical states, but its computational complexity hinders real-time control and obscures scaling relations. To bridge the gap betw…
Safe and efficient assistive planning for visually impaired scenarios remains challenging, since existing methods struggle with multi-objective optimization, generalization, and interpretability. In r…
Recent advancements in whole-body control through deep reinforcement learning have enabled humanoid robots to achieve remarkable progress in real-world chal lenging locomotion skills. However, existin…
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