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Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when contact force may occur from different directions on different…
Human hands possess the dexterity to interact with diverse objects such as grasping specific parts of the objects and/or approaching them from desired directions. More importantly, humans can grasp objects of any shape without…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…
Surfaces and curves play an important role in geometric design. In recent years, problem of finding a surface passing through a given curve have attracted much interest. In the present paper, we propose a new method to construct a surface…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…
The main objective of the present paper is to investigate a sufficient condition for which a rectifying curve on a smooth surface remains invariant under isometry of surfaces, and also it is shown that under such an isometry the component…
Swept volume computation, the determination of regions occupied by moving objects, is essential in graphics, robotics, and manufacturing. Existing approaches either explicitly track surfaces, suffering from robustness issues under complex…
Fluid droplets can be induced to move over rigid or flexible surfaces under external or body forces. We describe the effect of variations in material properties of a flexible substrate as a mechanism for motion. In this paper, we consider a…
We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…
Single-view 3D object reconstruction is a challenging fundamental problem in computer vision, largely due to the morphological diversity of objects in the natural world. In particular, high curvature regions are not always captured…
It is human to want to touch artworks, to feel their surface curvature and texture, their shapes and structures, and to feel the hand of the artist. Museum guards need to be constantly vigilant to protect art objects from adoring and…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
Morphodynamic equations governing the behaviour of active nematic fluids on deformable curved surfaces are constructed in the large deformation limit. Emphasis is placed on the formulation of objective rates that account for normal…
This paper outlines a methodology for constructing a geometrically smooth interpolatory curve in $\mathbb{R}^d$ applicable to oriented and flattenable points with $d\ge 2$. The construction involves four essential components: local…
We introduce a corrective function to compensate errors in contact area computations coming from mesh discretization. The correction is based on geometrical arguments and requires only one additional quantity to be computed: the length of…
Compliant motions allow alignment of workpieces using naturally occurring interaction forces. However, free-floating objects do not have a fixed base to absorb the reaction forces caused by the interactions. Consequently, if the interaction…