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Design-Informed Kinematic Control for Improved Dexterous Teleoperation of a Bilateral Manipulator System

May 02, 2020
Lasitha Wijayarathne, Juan Vallejo, Anthony Barnum, Zachary Cloutier, Frank L. Hammond III

* 7 pages. submitted to RO-MAN 2020 

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Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics

Apr 21, 2020
Lasitha Wijayarathne, Qie Sima, Ziyi Zhou, Ye Zhao, Frank L. Hammond III

* 7 pages, Submitted to IROS 2020 (under review) 

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Identification of Compliant Contact Parameters and Admittance Force Modulation on a Non-stationary Compliant Surface

Apr 21, 2020
Lasitha Wijayarathne, Frank L. Hammond III

* Accepted for publication ay ICRA 2020 

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