Research
Major Projects at Purdue
[T-ASE 2024]
LeTO: Learning Constrained Visuomotor Policy with Differentiable Trajectory Optimization. Paper
[T-RO 2024]
LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Grasping. Paper
[IROS-2024]
Feelit: Combining Compliant Shape Displays with Vision-Based Tactile Sensors for Real-Time Teletaction. Paper
[IROS-2024]
In-Hand Singulation and Scooping Manipulation with a 5 DOF Tactile Gripper. Paper
[IROS-2024]
Stick Roller: Precise In-hand Stick Rolling with a Sample-Efficient Tactile Model. Paper
[IROS-2024]
SeeBelow: Sub-dermal 3D reconstruction of Tumors with Surgical Robotic Palpation and Tactile Exploration. Paper
[IEEE Sensors-2023]
VisTac: Towards a Unified Multi-Modal Sensing Finger for Robotic Manipulation. Paper
Projects before joing Purdue
Research Equipments
"Pan Pan"
Franka Emika Panda
"An An"
Franka Emika Panda
"Blue"
UR5e
"White"
UR5e
Allegro Hand
WSG 32-068 (x2)
Weiss Robotics
2F-140 gripper (x2)
Robotiq
Microsoft Azure Kinect
Depth camera (x4)
Intel RealSense Depth Camera D455 (x2)
Intel RealSense Depth Camera D405 (x2)
Markforged Onyx One 3D Printer
Ultimaker S5 3D Printer
GelSight Tactile Robotic Finger (x2), GelSight Inc.
DIGIT (x4)
Tactile Sensor from GelSight Inc.
GelSight Mini
Tactile sensor from GelSight Inc.
ATI Nano17
Smallest 6-Axis Force and torque sensor
OptiTrack Motion Capture system with 8 PrimeX 13 W cameras.
Aloha Bimanual Teleoperation Kit
Acknowledgement
