Journal Papers

[12] Calculating the Support Function of Complex Continuous Surfaces With Applications to Minimum Distance Computation and Optimal Grasp Planning
Y. Zheng and K. Hang
IEEE Transactions on Robotics (Conditionally Accept)

[11] Benchmarking Cluttered Robot Pick-and-Place Manipulation with the Box and Blocks Test
A. S. Morgan, K. Hang, W. G. Bircher, F. Alladkani, A. Gandhi, B. Calli and A. M. Dollar
IEEE Robotics and Automation Letters, 2020

[10] Benchmarking In-Hand Manipulation
S. Cruciani, B. Sundaralingam, K. Hang, V. Kumar, T. Hermans and D. Kragic
IEEE Robotics and Automation Letters, 2020

[9] Benchmarking Protocol for Grasp Planning Algorithms
Y. Bekiroglu, N. Naresh, M. A. Roa, K. Adjigble, T. Pardi, C. Grimm, R. Balasubramanian, K. Hang and R. Stolkin
IEEE Robotics and Automation Letters, 2019

[8] Hand–object configuration estimation using particle filters for dexterous in-hand manipulation
K. Hang, W. G. Bircher, A. S. Morgan and A. M. Dollar
International Journal of Robotics Research, 2019.

[7] Perching and resting -- A paradigm for UAV maneuvering with modularized landing gears
K. Hang, X. Lyu, H. Song, J. A. Stork, A. M. Dollar, D. Kragic, and F. Zhang
Science Robotics, March, 2019.
Cover Article

[6] Pre-Grasp Sliding Manipulation of Thin Objects Using Soft, Compliant, or Underactuated Hands
K. Hang, A. S. Morgan and A. M. Dollar
IEEE Robotics and Automation Letters, 2019.

[5] End-to-End Nonprehensile Rearrangement with Deep Reinforcement Learning and Simulation-to-Reality Transfer
W. Yuan, K. Hang, D. Kragic, M. Wang, J. A. Stork
Robotics and Autonomous Systems, 2019.

[4] Fingertip Surface Optimization for Robust Grasping on Contact Primitives
H. Song, M. Y. Wang and K. Hang
IEEE Robotics and Automation Letters, 2018.

[3] A Framework For Optimal Grasp Contact Planning
K. Hang, J. A. Stork, N. S. Pollard and D. Kragic
IEEE Robotics and Automation Letters, 2017.

[2] Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation
K. Hang, M. Li, J. A. Stork, Y. Bekiroglu, F. T. Pokorny, A. Billard and D. Kragic
IEEE Transactions on Robotics, 2016.
Selected for oral presentation at IEEE/RAS International Conference on Robotics and Automation (ICRA), Singapore, 2017
[preprint]      [bibtex]      [video]

[1] Dexterous Grasping under Shape Uncertainty
M. Li, K. Hang, D. Kragic and A. Billard
Robotics and Autonomous Systems, 2016.

Conference Papers

[20] A Data-Driven Framework for Learning Dexterous Manipulation of Unknown Objects
A. S. Morgan, K. Hang, W. G, Bircher and A. M. Dollar
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.
[19] Object Placement Planning and Optimization for Robot Manipulators
J. A. Haustein, K. Hang, J. A. Stork and D. Kragic
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.
[18] Dual-Arm In-Hand Manipulation Using Visual Feedback
S. Cruciani, K. Hang, C. Smith and D. Kragic
IEEE-RAS International Conference on Humanoids Robots (Humanoids), Toronto, Canada, 2019.
Best Oral Paper Award Finalist
Mike Stillman Award Finalist
[17] Placing Objects with prior In-Hand Manipulation using Dexterous Manipulation Graphs
J. A. Haustein, S. Cruciani, R. Asif, K. Hang and D. Kragic
IEEE-RAS International Conference on Humanoids Robots (Humanoids), Toronto, Canada, 2019.
[16] Pre-Grasp Sliding Manipulation of Thin Objects Using Soft, Compliant, or Underactuated Hands
K. Hang, A. S. Morgan and A. M. Dollar
IEEE/RAS International Conference on Robotics and Automation (ICRA) (RA-L Submission), Montreal, Canada, 2019.
Best Robotic Manipulation Paper Award Finalist
[15] Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation
W. Yuan, K. Hang, H. Song, D. Kragic, M. Y. Wang, J. A. Stork
IEEE/RAS International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.
[14] Energy Gradient-Based Graphs for Planning Within-Hand Caging Manipulation
W. G. Bircher, A. S. Morgan, K. Hang, and A. M. Dollar
IEEE/RAS International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.
[13] Path Planning for Within-Hand Manipulation over Learned Representations of Safe States
B. Calli, A. Kimmel, K. Hang, K. Bekris, and A. M. Dollar
International Symposium on Experimental Robotics (ISER), Buenos Aires, Argentina, 2018.
[12] Dexterous Manipulation Graphs
S. Cruciani, C. Smith, D. Kragic and K. Hang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
[11] Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning
W. Yuan, J. A. Stork, D. Kragic, M. Y. Wang and K. Hang
IEEE/RAS International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018.
[10] Fingertip Surface Optimization for Robust Grasping on Contact Primitives
H. Song, M. Y. Wang and K. Hang
IEEE/RAS International Conference on Robotics and Automation (ICRA) (RA-L Submission), Brisbane, Australia, 2018.

[9] Herding by Caging: A Topological Approach towards Guiding Moving Agents via Mobile Robots
A. Varava, K. Hang, D. Kragic and F. Pokorny
Robotics: Science and Systems, MIT, USA, 2017.

[8] Integrating Motion and Hierarchical Fingertip Grasp Planning
J. A. Haustein, K. Hang and D. Kragic
IEEE/RAS International Conference on Robotics and Automation (ICRA), Singapore, 2017.
Best Robotic Manipulation Paper Award Finalist

[7] A Framework For Optimal Grasp Contact Planning
K. Hang, J. A. Stork, N. S. Pollard and D. Kragic
IEEE/RAS International Conference on Robotics and Automation (ICRA) (RA-L Submission), Singapore, 2017.
[6] On the Evolution of Fingertip Grasping Manifolds
K. Hang, J. A. Haustein, M. Li, A. Billard, C. Smith and D. Kragic
IEEE/RAS International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.

[5] Hierarchical Fingertip Space for Multi-fingered Precision Grasping
K. Hang, J. A. Stork and D. Kragic
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, US, 2014.

[4] Combinatorial Optimization for Hierarchical Contact-level Grasping
K. Hang, J. A. Stork, F.T. Pokorny and D. Kragic
IEEE/RAS International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
Best Student Paper Award Finalist

[3] Friction Coefficients and Grasp Synthesis
K. Hang, F.T. Pokorny and D. Kragic
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013.

[2] Grasp Moduli Spaces
F.T. Pokorny, K. Hang and D. Kragic
Robotics: Science and Sytems, Berlin, Germany, 2013.

[1] Improving Generalization for 3D Object Categorization with Global Structure Histograms
M. Madry, C.H. Ek, R. Detry, K. Hang, D. Kragic.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, 2012
Best Cognitive Robotics Paper Award Finalist

Workshop Papers

[2] Team CVAP’s Picking System at the Amazon Picking Challenge 2015
K. Hang, F. E. Viña B., M. Colledanchise, K. Pauwels, A. Pieropan and D. Kragic
IEEE/RAS International Conference on Robotics and Automation (ICRA), Warehouse Picking Automation Workshop 2017: Solutions, Experience, Learnings and Outlook of the Amazon Picking Challenge
Singapore, 2017.

[1] Hierarchical Fingertip Space for Synthesizing Adaptable Fingertip Grasps
K. Hang, M. Li, J. A. Stork, Y. Bekiroglu, A. Billard and D. Kragic
IEEE/RAS International Conference on Robotics and Automation (ICRA), Workshop on Autonomous Grasping and Manipulation: An Open Challenge
Hong Kong, China, 2014.

Previous Work

[3] ISABoost: A weak classifier inner structure adjusting based AdaBoost algorithm - ISABoost based application in scene categorization
Xueming Qian, Yuan Yan Tang, Zhe Yan, K. Hang
Neurocomputing, 2013.

[2] Boosted Scene Categorization Approach by Adjusting Inner Structures and Outer Weights of Weak Classifiers
Xueming Qian, Zhe Yan, K. Hang
MMM, Taipei, Taiwan 2011.

[1] Scene Categorization Using Boosted Back-Propagation Neural Networks
Xueming Qian, Zhe Yan, K. Hang, Guizhong Liu, Huan Wang, Zhe Wang, Zhi Li
PCM, Shanghai, China, 2010.