J
Joseph M. Romano
Researcher at University of Pennsylvania
Publications - 26
Citations - 2298
Joseph M. Romano is an academic researcher from University of Pennsylvania. The author has contributed to research in topics: Haptic technology & Object (computer science). The author has an hindex of 19, co-authored 26 publications receiving 1950 citations. Previous affiliations of Joseph M. Romano include Kiva Systems & Johns Hopkins University.
Papers
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Journal ArticleDOI
Mechanics of Precurved-Tube Continuum Robots
TL;DR: This paper applies beam mechanics to obtain a kinematic model of active cannula shape and describes design tools that result from the modeling process and Experimental results illustrate the importance of including torsional effects and the ability of the model to predict energy bifurcation and active cannulas shape.
Journal ArticleDOI
Analysis and Observations From the First Amazon Picking Challenge
Nikolaus Correll,Kostas E. Bekris,Dmitry Berenson,Oliver Brock,Albert Causo,Kris Hauser,Kei Okada,Alberto Rodriguez,Joseph M. Romano,Peter R. Wurman +9 more
TL;DR: An overview of the inaugural Amazon Picking Challenge is presented along with a summary of a survey conducted among the 26 participating teams, highlighting mechanism design, perception, and motion planning algorithms, as well as software engineering practices that were most successful in solving a simplified order fulfillment task.
Journal ArticleDOI
Human-Inspired Robotic Grasp Control With Tactile Sensing
TL;DR: A novel robotic grasp controller that allows a sensorized parallel jaw gripper to gently pick up and set down unknown objects once a grasp location has been selected, inspired by the control scheme that humans employ for such actions.
Journal ArticleDOI
Creating Realistic Virtual Textures from Contact Acceleration Data
TL;DR: This paper employs a sensorized handheld tool to capture the feel of a given texture, reduces the three-dimensional acceleration signals to a perceptually equivalent one-dimensional signal, and uses linear predictive coding to distill this raw haptic information into a database of frequency-domain texture models.
Book ChapterDOI
Dimensional reduction of high-frequency accelerations for haptic rendering
TL;DR: This paper describes and compares several candidate methods of varying degrees of sophistication, culminating in a novel frequency-domain solution that performs very well on the authors' chosen metrics.