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We derive and numerically solve a surface active nematodynamics model. We validate the numerical approach on a sphere and analyse the influence of hydrodynamics on the oscillatory motion of topological defects. For ellipsoidal surfaces the…
The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape…
3D animations are an effective method to learn about complex dynamic phenomena, such as mesoscale biological processes. The animators' goals are to convey a sense of the scene's overall complexity while, at the same time, visually guiding…
We study the geometry of surfaces in $\mathbb R^5$ by relating it to the geometry of regular and singular surfaces in $\mathbb R^4$ obtained by orthogonal projections. In particular, we obtain relations between asymptotic directions, which…
Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve hand poses inferred via image-based methods. Given a hand…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Here we report a surface curvature-induced directional movement phenomenon, based on molecular dynamics simulations, that a nanoscale water droplet at the outer surface of a graphene cone always spontaneously moves toward the larger end of…
Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…
We study the motion of smooth, strictly convex bodies in $\mathbb{R}^n$ expanding in the direction of their normal vector field with speed depending on Gauss curvature and support function.
Generating realistic hand motion sequences in interaction with objects has gained increasing attention with the growing interest in digital humans. Prior work has illustrated the effectiveness of employing occupancy-based or distance-based…
In-hand object manipulation is challenging to simulate due to complex contact dynamics, non-repetitive finger gaits, and the need to indirectly control unactuated objects. Further adapting a successful manipulation skill to new objects with…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactile sensors in theory can equip the robots with such…
Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the object. However, existing grasp planners…
We investigate the behaviour of vertices and inflexions on 1-parameter families of curves on smooth surfaces in the 3-space, which include a singular member. In particular, we discuss the context where the curves evolve as sections of a…