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We present RoboPanoptes, a capable yet practical robot system that achieves whole-body dexterity through whole-body vision.
Design of a modular snake robot
Cornell Wright, Aaron Johnson, Aaron Peck, Zachary McCord, Allison Naaktgeboren, Philip Gianfortoni, Manuel Gonzalez-Rivero, Ross Hatton, and Howie Choset · 2007
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Tactile sensing—from humans to humanoids
Ravinder S Dahiya, Giorgio Metta, Maurizio Valle, and Giulio Sandini · 2009
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A review on modelling, implementation, and control of snake robots
Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, and Jan Tommy Gravdahl · 2012
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Range-sensor-based semiautonomous whole-body collision avoidance of a snake robot
Motoyasu Tanaka, Kazuyuki Kon, and Kazuo Tanaka · 2015
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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A Vaswani · 2017
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Optical skin for robots: Tactile sensing and whole-body vision
Akihiko Yamaguchi and Christopher G Atkeson · 2017
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Whole-body sensory concept for compliant mobile robots
Marina Kollmitz, Daniel Büscher, Tobias Schubert, and Wolfram Burgard · 2018
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Vine robots
Margaret M Coad, Laura H Blumenschein, Sadie Cutler, Javier A Reyna Zepeda, Nicholas D Naclerio, Haitham El-Hussieny, Usman Mehmood, Jee-Hwan Ryu, Elliot W Hawkes, and Allison M Okamura · 2019
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Whole-body active compliance control for humanoid robots with robot skin
Emmanuel Dean-Leon, J Rogelio Guadarrama-Olvera, Florian Bergner, and Gordon Cheng · 2019
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On the continuity of rotation representations in neural networks
Yi Zhou, Connelly Barnes, Jingwan Lu, Jimei Yang, and Hao Li · 2019
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Design, modeling, control, and application of everting vine robots
Laura H Blumenschein, Margaret M Coad, David A Haggerty, Allison M Okamura, and Elliot W Hawkes · 2020
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An image is worth 16x16 words: Transformers for image recognition at scale
Alexey Dosovitskiy · 2020
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Garbage collection and sorting with a mobile manipulator using deep learning and whole-body control
Jingyi Liu, Pietro Balatti, Kirsty Ellis, Denis Hadjivelichkov, Danail Stoyanov, Arash Ajoudani, and Dimitrios Kanoulas · 2020
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Whole-Body Manipulation
Olivier Stasse and Ludovic Righetti · 2020
Cited alongside, same era.
Emerging properties in self-supervised vision transformers
Mathilde Caron, Hugo Touvron, Ishan Misra, Hervé Jégou, Julien Mairal, Piotr Bojanowski, and Armand Joulin · 2021
Cited alongside, same era.
Mobile manipulation using a snake robot in a helical gait
Belal A Elsayed, Tatsuya Takemori, Motoyasu Tanaka, and Fumitoshi Matsuno · 2021
Cited alongside, same era.
Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
Cited alongside, same era.
Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction
Aimee Goncalves, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Katherine M Tsui, and Alex Alspach · 2022
Cited alongside, same era.
A preprogrammable continuum robot inspired by elephant trunk for dexterous manipulation
Jie Zhang, You Li, Ziyun Kan, Qiufeng Yuan, Hamed Rajabi, Zhigang Wu, Haijun Peng, and Jianing Wu · 2023
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, and Shuran Song · 2024
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Zipeng Fu, Tony Z Zhao, and Chelsea Finn · 2024
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Umi on legs: Making manipulation policies mobile with manipulation-centric whole-body controllers
Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, and Shuran Song · 2024
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A Hierarchical Framework for Robot Safety using Whole-body Tactile Sensors
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Safe physical human-robot interaction: A quasi whole-body sensing method based on novel laser-ranging sensor ring pairs
Keke Qi, Zhibin Song, and Jian S Dai · 2022
Cited alongside, same era.
Adaptive trajectory control of an under-actuated snake robot
Guodong Qin, Huapeng Wu, Yong Cheng, Hongtao Pan, Wenlong Zhao, Shanshuang Shi, Yuntao Song, and Aihong Ji · 2022
Cited alongside, same era.
Integrated task sensing and whole body control for mobile manipulation with series elastic actuators
Xiaoqian Ren, Yueyue Liu, Yingbai Hu, and Zhijun Li · 2022
Cited alongside, same era.
A survey on snake robot locomotion
G Seeja, Arockia Selvakumar Arockia Doss, and V Berlin Hency · 2022
Cited alongside, same era.
Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
Cited alongside, same era.
Deep whole-body control: learning a unified policy for manipulation and locomotion
Zipeng Fu, Xuxin Cheng, and Deepak Pathak · 2023
Cited alongside, same era.
Learning whole-body manipulation for quadrupedal robot
Seunghun Jeon, Moonkyu Jung, Suyoung Choi, Beomjoon Kim, and Jemin Hwangbo · 2023
Cited alongside, same era.
Shuo Jiang and Lawson LS Wong · 2024
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Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain
Shuo Jiang, Adarsh Salagame, Alireza Ramezani, and Lawson LS Wong · 2024
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ARMOR: Egocentric Perception for Humanoid Robot Collision Avoidance and Motion Planning
Daehwa Kim, Mario Srouji, Chen Chen, and Jian Zhang · 2024
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Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot
Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla, Eric Sihite, Gunar Schirner, and Alireza Ramezani · 2024
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Humanoidbench: Simulated humanoid benchmark for whole-body locomotion and manipulation
Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin, Youngwoon Lee, and Pieter Abbeel · 2024
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Bimanual Dexterity for Complex Tasks
Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, and Deepak Pathak · 2024
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SPIN: Simultaneous Perception, Interaction and Navigation
Shagun Uppal, Ananye Agarwal, Haoyu Xiong, Kenny Shaw, and Deepak Pathak · 2024
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Gello: A general, low-cost, and intuitive teleoperation framework for robot manipulators
Philipp Wu, Yide Shentu, Zhongke Yi, Xingyu Lin, and Pieter Abbeel · 2024
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Adaptive Mobile Manipulation for Articulated Objects In the Open World
Haoyu Xiong, Russell Mendonca, Kenneth Shaw, and Deepak Pathak · 2024
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Modular Self-Reconfigurable Continuum Robot for General Purpose Loco-Manipulation
Yilin Cai, Haokai Xu, Yifan Wang, Desai Chen, Wojciech Matusik, Wan Shou, and Yue Chen · 2025
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