Teleoperation
Bimanual Cable-Driven Teleoperation
8-DoF cable-driven parallel robot system for bimanual teleoperation, featuring variable shoulder distance for adaptable manipulation at different scales. Published in T-mech and npj Robotics 2025.
Agricultural Robotics
CAFEs — Cable Agricultural Floating End-Effectors
Cable-traversing robotic system for agricultural applications. Features scalable mechanical design, large-workspace teleoperation control, and collaborative floating end-effectors. ICRA 2025.
Soft Robotics
Soft Robot Arm Physical Twin Control
Teleoperation and dynamic control of soft robotic arms using a physical twin interface, enabling responsive real-time manipulation. IROS 2025.
Imitation Learning
Online Imitation Learning via Teleoperation
Decaying relative correction framework for online imitation learning during robotic manipulation tasks, enabling efficient skill transfer through teleoperation. IROS 2025.
Cable-Driven Robots
Reconfigurable CDPR Workspace Optimization
Cable attachment optimization for reconfigurable cable-driven parallel robots. Novel ray-based method for efficient wrench-closure and interference-free workspace analysis. T-RO 2023, MMT 2022.
Musculoskeletal Robots
Lattice Structure Musculoskeletal Robots
Programmable geometric topology and anisotropy in lattice-structure musculoskeletal robots, enabling novel mechanical properties through structural design. Science Advances 2025.