Xiaojing Song

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— Robot grasping and manipulation require very accurate knowledge of the object's location within the robotic hand. By itself, a vision system cannot provide very precise and robust pose tracking due to occlusions or hardware limitations. This paper presents a method to estimate a grasped object's 6D pose by fusing sensor data from vision, tactile sensors(More)
— This paper investigates possible sources of variability in the dynamics of legged locomotion, even in its most idealized form. The rimless wheel model is a seemingly deterministic legged dynamic system, popular within the legged locomotion community for understanding basic collision dynamics and energetics during passive phases of walking. Despite the(More)