Barnabas Gavin Cangan

20 papers A 4Journal 13Unranked 3
YearRankTypeTitle / Venue / Authors
2025 A conf
Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five.
IROS
Simon Fritsch, Liam Achenbach, Riccardo Bianco, Nicola Irmiger, Gawain Marti, Samuel Visca, Chenyu Yang, Davide Liconti, Barnabas Gavin Cangan, Robert J. S. Malate, Ronan Hinchet, Robert K. Katzschmann
2025 J jnl
Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five.
CoRR
Simon Fritsch, Liam Achenbach, Riccardo Bianco, Nicola Irmiger, Gawain Marti, Samuel Visca, Chenyu Yang, Davide Liconti, Barnabas Gavin Cangan, Robert J. S. Malate, Ronan Hinchet, Robert K. Katzschmann
2025 J jnl
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications.
CoRR
Carolina Silva Plata, Carlos Rosel, Barnabas Gavin Cangan, Hosam Alagi, Björn Hein, Robert K. Katzschmann, Rubén Fernández, Yosra Mojtahedi, Stefan Escaida Navarro
2025 J jnl
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications.
IEEE Robotics Autom. Lett.
Carolina Silva Plata, Carlos Rosel, Barnabas Gavin Cangan, Hosam Alagi, Björn Hein, Robert K. Katzschmann, Rubén Fernández, Yosra Mojtahedi, Stefan Escaida Navarro
2025 A conf
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning.
IROS
Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis, Arturo Roberti, Aristotelis Sympetheros, Michel R. Vogt, Davide Liconti, Chenyu Yang, Barnabas Gavin Cangan, Ronan Hinchet, Robert K. Katzschmann
2025 J jnl
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning.
CoRR
Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis, Arturo Roberti, Aristotelis Sympetheros, Michel R. Vogt, Davide Liconti, Chenyu Yang, Barnabas Gavin Cangan, Ronan Hinchet, Robert K. Katzschmann
2024 J jnl
Multi-Tap Resistive Sensing and FEM Modeling Enables Shape and Force Estimation in Soft Robots.
IEEE Robotics Autom. Lett.
Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro, Artem Beger, Christian Duriez, Robert K. Katzschmann
2024 — conf
Task-defined Pulley Design for Nonlinearly Coupled Tendon-driven Actuation.
RoboSoft
Wensi Zhang, Barnabas Gavin Cangan, Thomas Buchner, Alexander M. Kübler, Ramon Asmus, Robert K. Katzschmann
2024 J jnl
Vision-Based Online Key Point Estimation of Deformable Robots.
Adv. Intell. Syst.
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan, Thomas Buchner, Robert K. Katzschmann
2023 A conf
Autonomous Marker-Less Rapid Aerial Grasping.
IROS
Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann
2023 — conf
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints.
Humanoids
Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann
2023 J jnl
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints.
CoRR
Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann
2023 J jnl
Multi-tap Resistive Sensing and FEM Modeling enables Shape and Force Estimation in Soft Robots.
CoRR
Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro, Artem Beger, Christian Duriez, Robert K. Katzschmann
2023 J jnl
Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World.
CoRR
Nico Gürtler, Felix Widmaier, Cansu Sancaktar, Sebastian Blaes, Pavel Kolev, Stefan Bauer, Manuel Wüthrich, Markus Wulfmeier, Martin A. Riedmiller, Arthur Allshire, Qiang Wang, Robert McCarthy, Hangyeol Kim, Jongchan Baek, Wookyong Kwon, Shanliang Qian, Yasunori Toshimitsu, Mike Yan Michelis, Amirhossein Kazemipour, Arman Raayatsanati, Hehui Zheng, Barnabas Gavin Cangan, Bernhard Schölkopf, Georg Martius
2022 J jnl
Autonomous Vision-based Rapid Aerial Grasping.
CoRR
Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann
2022 A conf
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing.
IROS
Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang, Yu Zhang, Christian Duriez, Robert K. Katzschmann
2022 J jnl
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing.
CoRR
Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang, Yu Zhang, Christian Duriez, Robert K. Katzschmann
2022 J jnl
ViSE: Vision-Based 3D Real-Time Shape Estimation of Continuously Deformable Robots.
CoRR
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan, Thomas Buchner, Robert K. Katzschmann
2021 — conf
Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World.
NeurIPS (Competition and Demos)
Nico Gürtler, Felix Widmaier, Cansu Sancaktar, Sebastian Blaes, Pavel Kolev, Stefan Bauer, Manuel Wüthrich, Markus Wulfmeier, Martin A. Riedmiller, Arthur Allshire, Qiang Wang, Robert McCarthy, Hangyeol Kim, Jongchan Baek, Wookyong Kwon, Shanliang Qian, Yasunori Toshimitsu, Mike Yan Michelis, Amirhossein Kazemipour, Arman Raayatsanati, Hehui Zheng, Barnabas Gavin Cangan, Bernhard Schölkopf, Georg Martius
2020 J jnl
Anticipatory Human-Robot Path Planning for Search and Rescue.
CoRR
Barnabas Gavin Cangan, Larkin Heintzman, Amanda Hashimoto, Nicole Abaid, Ryan K. Williams