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Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…
Cloth manipulation is common in domestic and service tasks, and most studies use fixed-base manipulators to manipulate objects whose sizes are relatively small with respect to the manipulators' workspace, such as towels, shirts, and rags.…
We present a comparison review that evaluates popular techniques for garment draping for 3D fashion design, virtual try-ons, and animations. A comparative study is performed between various methods for garment draping of clothing over the…
This work proposes a new efficient approach for calculating the bending stiffness of two-dimensional materials using simple atomistic tests on small periodic unit cells. The tests are designed such that bending deformations are dominating…
Additive manufacturing is becoming increasingly popular in academia and industry. Accordingly, there has been a growing interest in characterizing 3D printed samples to determine their structural integrity behaviour. We employ the Essential…
Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…
We show that slightly polydisperse disordered 2D foams can be used as a self-assembled template for isotropic photonic band gap (PBG) materials for transverse electric (TE) polarization. Calculations based on in-house experimental and…
Over the past 30 years, the cell-centred finite volume method has developed to become a viable alternative to the finite element method in the field of computational solid mechanics. The current article presents an open-source toolbox for…
Liquid resin infusion (LRI) processes are promising manufacturing routes to produce large, thick, or complex structural parts. They are based on the resin flow induced, across its thickness, by a pressure applied onto a preform/resin…
This paper presents a formal verification guided approach for a principled design and implementation of robust and resilient learning-enabled systems. We focus on learning-enabled state estimation systems (LE-SESs), which have been widely…
In this paper, a novel fully 3D, microfluidic-oriented, gel-based, and low-cost highly stretchable resistive sensors have been presented. By the proposed method we are able to measure and discriminate all of the stretch, twist, and pressure…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
To go beyond the simple model for the fold as two flexible surfaces or faces linked by a crease that behaves as an elastic hinge, we carefully shape and anneal a crease within a polymer sheet and study its mechanical response. First, we…
Recent improvements in additive manufacturing and high-throughput material synthesis have enabled the discovery of novel metallic materials for extreme environments. However, high-fidelity testing of advanced mechanical properties such as…
Non-rigid origami patterns could provide more versatile performance than their rigid counterparts in the design of mechanical metamaterials owing to the simultaneous deformation of facets and creases, but their complex deformation modes…
Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…
In this article, we present an automated approach that would test for and discover the interoperability of CAD systems based on the approximately-invariant shape properties of their models. We further show that exchanging models in standard…
A simple way to generate propulsion at low Reynolds number is to periodically oscillate a passive flexible filament. Here we present a macroscopic experimental investigation of such a propulsive mechanism. A robotic swimmer is constructed…
Evaluation of grasps on deformable 3D objects is a little-studied problem, even if the applicability of rigid object grasp quality measures for deformable ones is an open question. A central issue with most quality measures is their…