MCube Lab MIT
Autonomous robotic manipulation comes from an effective use of materials, modeling, perception, planning, control and design. The MCube Lab brings those disciplines together for the problem of mastering contact. Our goal is to develop technologies to bring reliable autonomous physical interaction closer to reality.
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Thesis Defense - Neha Sunil - Deformable Object Manipulation with a Tactile Reactive Gripper
Thesis Defense - Rachel Holladay - Leveraging Mechanics for Multi-step Robotic Manipulation Planning
PhD Thesis Defense - Anthony Simeonov - Geometric Learning for Manipulating Scenes and Objects
PhD Thesis Defense - Sangwoon Kim - TEXterity: Tactile Extrinsic deXterity
ICRA 2024 - TEXterity: Tactile Extrinsic deXterity
IROS 2023 - Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects
IROS 2022 - Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfact
IROS 2023 - Object manipulation through contact configuration regulation: multiple intermittent cont
ICRA 2023 - A Tactile-enabled Hybrid Rigid-Soft Continuum Manipulator for Forceful Enveloping Grasps
PhD Thesis Defense - Yen-Chen Lin - Neural Fields for Robotic Manipulation
PhD Thesis Defense - Orion Taylor - Manipulation via contact configuration regulation
ICRA 2023 - Simultaneous Tactile Estimation and Control of Extrinsic Contact
PhD Thesis Defense - Bernardo Aceituno-Cabezas - An Optimization Approach to Certified Manipulation
PhD Thesis Defense - Maria Bauza - Visuo-Tactile Perception for Dexterous Manipulation
ICRA 2022 - Manipulation of unknown objects via contact configuration regulation
ICRA 2022 - Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion
ICRA 2021 - Extrinsic Contact Sensing with Relative-Motion Tracking from Distrib Tactile Measurement
ICRA 2021 - Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
ICRA 2021 - Planning for Multi-Stage Forceful Manipulation
IROS 2020 - PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation
CORL 2020 - Tactile Object Pose Estimation from the First Touch
ICRA 2020 - Tactile Dexterity: Manipulation Primitives with Tactile Feedback
PhD Thesis Defense - Francois Hogan - Reactive Manipulation with Contact Models and Tactile Feedback
PhD Thesis Defense - Nikhil Chavan-Dafle - Dexterous Manipulation with Simple Grippers
ICRA 2020 - Hybrid Differential Dynamic Programming for Planar Manipulation Primitives
IROS 2019 - Force-and-Motion Constrained Planning for Tool Use
ICRA 2019 - Tactile mapping and localization