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Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor…
In this chapter, the mathematical analysis of the minimum jerk trajectory (MJT) generation is performed. In this study, the position and the velocity of the minimum jerk trajectory as a function of time is presented in two cases: the first…
A 3-parameter family of helical tubular surfaces obtained by screw revolving a circle provides a useful pedagogical example of how to study geodesics on a surface that admits a 1-parameter symmetry group, but is not as simple as a surface…
Motion, measured via optical flow, provides a powerful cue to discover and learn objects in images and videos. However, compared to using appearance, it has some blind spots, such as the fact that objects become invisible if they do not…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
An ant-like observer confined to a two-dimensional surface traversed by stripes would wonder whether this striped landscape could be devised in such a way as to appear to be the same wherever they go. Differently stated, this is the problem…
Object surface reconstruction brings essential benefits to robot grasping, object recognition, and object manipulation. When measuring the surface distribution of an unknown object by tapping, the greatest challenge is to select tapping…
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…
Detecting symmetry is crucial for effective object grasping for several reasons. Recognizing symmetrical features or axes within an object helps in developing efficient grasp strategies, as grasping along these axes typically results in a…
One considers geometry with the intransitive equaivalence relation. Such a geometry is a physical geometry, i.e. it is described completely by the world function, which is a half of the squared distance function. The physical geometry…
We study the dynamics of a droplet moving on an inclined rough surface in the absence of inertial and viscous stress effects. In this case, the dynamics of the droplet is a purely geometric motion in terms of the wetting domain and the…
In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…
Wiping behavior is a task of tracing the surface of an object while feeling the force with the palm of the hand. It is necessary to adjust the force and posture appropriately considering the various contact conditions felt by the hand.…
Surface tension tends to minimize the area of interfaces between pieces of matter in different thermodynamic phases, be they in the solid or the liquid state. This can be relevant for the macroscopic shape of very soft solids, and lead to a…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…
Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to…
Coordinated movements of epithelia tissue are linked with active matter processes. We here consider the influence of curvature on the spatiotemporal arrangements and the shapes of the cells. The cells are represented by a multiphase field…
Glovebox decommissioning tasks usually require manipulating relatively heavy objects in a highly constrained environment. Thus, contact with the surroundings becomes inevitable. In order to allow the robot to interact with the environment…
Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…