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During the wear process of surfaces in sliding friction, there is a running-in period during which the topography of surfaces changes with time before reaching the steady wear regime. In the steady wear regime, the statistical parameters…
Estimating the pose and shape of hands and objects under interaction finds numerous applications including augmented and virtual reality. Existing approaches for hand and object reconstruction require explicitly defined physical constraints…
A nonrelativistic quantum mechanical particle moving freely on a curved surface feels the effect of the nontrivial geometry of the surface through the kinetic part of the Hamiltonian, which is proportional to the Laplace-Beltrami operator,…
In this article we develop a theoretical framework to study the hydrodynamic interactions in the presence of a non-flat and no-slip boundary. We calculate the influence of a small amplitude and sinusoidal deformations of a boundary wall in…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
This paper brings together three distinct theories with the goal of quantifying shape textures with complex morphologies. Distance fields are central objects in shape representation, while topological data analysis uses algebraic topology…
Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…
A new field of discrete differential geometry is presently emerging on the border between differential and discrete geometry. Whereas classical differential geometry investigates smooth geometric shapes (such as surfaces), and discrete…
Reconstructing 3D models of dynamic, real-world objects with high-fidelity textures from monocular frame sequences has been a challenging problem in recent years. This difficulty stems from factors such as shadows, indirect illumination,…
Let X be a projective, equidimensional, singular scheme over an algebraically closed field. Then the existence of a geometric smoothing (i.e. a family of deformations of X over a smooth base curve whose generic fibre is smooth) implies the…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
Waves impart momentum and exert force on obstacles in their path. The transfer of wave momentum is a fundamental mechanism for contactless manipulation, yet the rules of conventional scattering intrinsically limit the radiation force based…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…
Swimming in curved spacetimes is a phenomenon whereby free bodies in curved spacetimes are able to propel themselves by performing cyclic internal motions. When originally proposed, it was further suggested that, in the limit of fast…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
The consideration of the so-called rotation minimizing frames allows for a simple and elegant characterization of plane and spherical curves in Euclidean space via a linear equation relating the coefficients that dictate the frame motion.…
This paper proves an elementary topological fact about closed curves on surfaces, namely that by carefully smoothing an intersection point, one can reduce self-intersection by exactly $1$. This immediately implies a positive answer to a…
Systems consisting of spheres rolling on elastic membranes have been used to introduce a core conceptual idea of General Relativity (GR): how curvature guides the movement of matter. However, such schemes cannot accurately represent…
When a droplet gently lands on an atomically smooth substrate, it will most likely contact the underlying surface in about 0.1 s. However, theoretical estimation from fluid mechanics predicts a contact time of 10 to 100 s. What causes this…